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52 lines
1.4 KiB
52 lines
1.4 KiB
#include <iostream>
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#include <cmath>
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#include <eigen3/Eigen/Dense>
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#include "data.h"
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Eigen::Matrix<float, MODEL_PATH_DISTANCE, POLYFIT_DEGREE> vander;
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void poly_init(){
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// Build Vandermonde matrix
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for(int i = 0; i < MODEL_PATH_DISTANCE; i++) {
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for(int j = 0; j < POLYFIT_DEGREE; j++) {
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vander(i, j) = pow(i, POLYFIT_DEGREE-j-1);
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}
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}
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}
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void poly_fit(float *in_pts, float *in_stds, float *out) {
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// References to inputs
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Eigen::Map<Eigen::Matrix<float, MODEL_PATH_DISTANCE, 1> > pts(in_pts, MODEL_PATH_DISTANCE);
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Eigen::Map<Eigen::Matrix<float, MODEL_PATH_DISTANCE, 1> > std(in_stds, MODEL_PATH_DISTANCE);
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Eigen::Map<Eigen::Matrix<float, POLYFIT_DEGREE, 1> > p(out, POLYFIT_DEGREE);
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// Build Least Squares equations
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Eigen::Matrix<float, MODEL_PATH_DISTANCE, POLYFIT_DEGREE> lhs = vander.array().colwise() / std.array();
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Eigen::Matrix<float, MODEL_PATH_DISTANCE, 1> rhs = pts.array() / std.array();
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Eigen::Matrix<float, POLYFIT_DEGREE, 1> scale = 1. / (lhs.array()*lhs.array()).sqrt().colwise().sum();
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lhs = lhs * scale.asDiagonal();
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// Solve inplace
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Eigen::ColPivHouseholderQR<Eigen::Ref<Eigen::MatrixXf> > qr(lhs);
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p = qr.solve(rhs);
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p = p.transpose() * scale.asDiagonal();
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}
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int main(void) {
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poly_init();
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float poly[4];
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poly_fit(pts, stds, poly);
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std::cout << "[";
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std::cout << poly[0] << ",";
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std::cout << poly[1] << ",";
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std::cout << poly[2] << ",";
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std::cout << poly[3];
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std::cout << "]" << std::endl;
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}
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