Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🐳 Makes phase power JIT

Browse Source
This commit is contained in:
Rune Harlyk
2024-11-09 16:05:31 +01:00
committed by Rune Harlyk
parent ea42cc0aac
commit 0fd729be4a
1 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+8 -1
View File
@@ -315,11 +315,18 @@ class BezierState : public GaitState {
float Y[] = {0.0f, 0.0f, 0.9f * *height, 0.9f * *height, 0.9f * *height, 0.9f * *height, float Y[] = {0.0f, 0.0f, 0.9f * *height, 0.9f * *height, 0.9f * *height, 0.9f * *height,
0.9f * *height, 1.1f * *height, 1.1f * *height, 1.1f * *height, 0.0f, 0.0f}; 0.9f * *height, 1.1f * *height, 1.1f * *height, 1.1f * *height, 0.0f, 0.0f};
float phase_power = 1.0f;
float inv_phase_power = std::pow(1.0f - phase, 11);
float one_minus_phase = 1.0f - phase;
for (int i = 0; i < 12; i++) { for (int i = 0; i < 12; i++) {
float b = COMBINATORIAL_VALUES[i] * std::pow(phase, i) * std::pow(1.0f - phase, 11 - i); float b = COMBINATORIAL_VALUES[i] * phase_power * inv_phase_power;
point[0] += b * STEP[i] * X_POLAR; point[0] += b * STEP[i] * X_POLAR;
point[1] += b * Y[i]; point[1] += b * Y[i];
point[2] += b * STEP[i] * Z_POLAR; point[2] += b * STEP[i] * Z_POLAR;
phase_power *= phase;
inv_phase_power /= one_minus_phase;
} }
} }