90 lines
2.2 KiB
C
90 lines
2.2 KiB
C
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#ifndef COMPUTE_H
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#define COMPUTE_H
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#include "usart.h"
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#include "print.h"
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#ifdef __linux__
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#include <stdio.h>
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#include <math.h>
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#define Debug ::printf
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#else
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#define Debug(...);
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#endif
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extern void ReadData (int * data, const int len);
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extern float msqrtf (const float x);
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extern float sincos (const float x, const bool even);
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static constexpr unsigned N = 3u;
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class Vector {
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float data [N];
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public:
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explicit Vector () { for (unsigned n=0u; n<N; n++) data [n] = 0.0f; }
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explicit Vector (const int * ptr, const unsigned n = N) {
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for (unsigned i=0u; i<n; i++) {
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data [i] = static_cast<float>(ptr [i]);
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}
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}
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float & operator[] (const unsigned n) { return data [n]; }
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float abs () const {
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float r = 0.0f;
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for (unsigned n=0u; n<N; n++) {
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const float e = data [n];
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r += e * e;
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}
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return msqrtf (r);
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}
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};
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struct Matrix {
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float data [N][N];
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Vector operator* (Vector & v) const {
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Vector r;
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for (unsigned i=0; i<N; i++) {
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for (unsigned j=0; j<N; j++) {
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r[j] += data [i][j] * v [i];
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}
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}
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return r;
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}
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};
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class Compute {
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Usart usart;
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Print cout;
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unsigned passcnt;
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public:
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explicit Compute () noexcept : usart (115200), cout (DEC), passcnt (0u) {
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cout += usart;
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}
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void multiply_test () {
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cout << " \rBegin tests ...\r\n";
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// Rotace o 45 deg v rovině xy.
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const Matrix m { .data = {{0.707f, 0.707f, 0.0f}, {-0.707f, 0.707f, 0.0f}, {0.0f, 0.0f, 1.0f}} };
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int x [N] = {1, 1, 2};
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Vector v (x);
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Vector r = m * v;
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cout << "origin: x=" << v[0] << ", y=" << v[1] << ", z=" << v[2] << EOL;
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cout << "result: x=" << r[0] << ", y=" << r[1] << ", z=" << r[2] << EOL;
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}
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void sincos_test () {
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constexpr float x = 3.1415926f / 6.0f;
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const float s = sincos(x, true);
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const float c = sincos(x, false);
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cout << "sin (" << x << ") = " << s << EOL;
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cout << "cos (" << x << ") = " << c << EOL;
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cout << "ctrl: sin^2 + cos^2 = " << s * s + c * c << EOL;
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}
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bool pass () {
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int x [N];
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ReadData(x, N);
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Vector v (x);
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cout << v.abs() << EOL;
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passcnt += 1;
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if (passcnt > 20) return true;
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return false;
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}
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};
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#endif // COMPUTE_H
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