NextControl/dev.nextftc.control.util

Package-level declarations

Math utilities shared across the module: state-space discretization, a DARE solver plus cost/covariance matrix helpers for LQRController/KalmanFilter, and interpolation utilities including InterpolatingMap/InterpolatingMap2D and linear/spline/bilinear lerp functions.

Types

InterpolatingMap

class InterpolatingMap<T> : NavigableMap<Double, T>

A navigable map that supports flexible interpolation between values.

InterpolatingMap2D

class InterpolatingMap2D(interpolate: (Double, Double, Double, Double, Double, Double) -> Double, grid: TreeMap<Double, TreeMap<Double, Double>> = TreeMap())

Functions

antiLerp

fun antiLerp(value: Double, low: Double, high: Double): Double

bilerp

fun bilerp(x: Double, y: Double, x0: Double, y0: Double, x1: Double, y1: Double, q00: Double, q10: Double, q01: Double, q11: Double): Double

lerp

fun lerp(low: Double, high: Double, t: Double): Double

fun lerp(value: Double, inputMin: Double, inputMax: Double, outputMin: Double, outputMax: Double): Double

lerpLookup

fun lerpLookup(source: List<Double>, target: List<Double>, query: Double): Double

Searches for the nearest value in source to the given query value. If query exactly matches a value in source, the corresponding value in target is returned. If not, the two nearest values in source are found, and linear interpolation is performed between the corresponding values in target.

lerpMatrix

fun <R : Nat, C : Nat> lerpMatrix(t: Double, low: Matrix<R, C>, high: Matrix<R, C>): Matrix<R, C>

Linearly interpolates between two matrices at value t.

lerpMeasure

fun <U : Unit<U>> lerpMeasure(t: Double, low: Measure<U>, high: Measure<U>): Measure<U>

Linearly interpolates between two measures at value t.

splerp

fun splerp(t: Double, p0: Double, p1: Double, p2: Double, p3: Double): Double