diff options
Diffstat (limited to 'compat/correlation-calibrator.cpp')
| -rw-r--r-- | compat/correlation-calibrator.cpp | 44 |
1 files changed, 20 insertions, 24 deletions
diff --git a/compat/correlation-calibrator.cpp b/compat/correlation-calibrator.cpp index 949f10ae..07ef7d3d 100644 --- a/compat/correlation-calibrator.cpp +++ b/compat/correlation-calibrator.cpp @@ -2,6 +2,7 @@ #include "variance.hpp" #include "compat/math.hpp" #include "compat/meta.hpp" +#include "compat/macros.h" #include <cmath> #include <iterator> @@ -11,16 +12,9 @@ #define DEBUG_PRINT #ifdef DEBUG_PRINT # include <cstdio> -# include <cwchar> - using std::fwprintf; - using std::fflush; #endif -using namespace correlation_calibrator_impl; - -correlation_calibrator::correlation_calibrator() -{ -} +namespace correlation_calibrator_impl { static constexpr unsigned nbuckets[6] = { @@ -44,26 +38,26 @@ static constexpr double spacing[6] = roll_spacing_in_degrees, }; -static constexpr wchar_t const* const names[6] { - L"x", L"y", L"z", - L"yaw", L"pitch", L"roll", +static constexpr char const* const names[6] { + "x", "y", "z", + "yaw", "pitch", "roll", }; -bool correlation_calibrator::check_buckets(const vec6 &data) +bool correlation_calibrator::check_buckets(const vec6& data) { bool ret = false; unsigned pos[6]; for (unsigned k = 0; k < 6; k++) { - const double val = clamp(data[k], min[k], max[k]); - pos[k] = (val-min[k])/spacing[k]; + const double val = std::clamp(data[k], min[k], max[k]); + pos[k] = unsigned((val-min[k])/spacing[k]); if (pos[k] >= nbuckets[k]) { - once_only(qDebug() << "idx" << k + eval_once(qDebug() << "idx" << k << "bucket" << (int)pos[k] - << "outside bounds" << nbuckets[k]);; + << "outside bounds" << nbuckets[k]); return false; } @@ -133,18 +127,18 @@ mat66 correlation_calibrator::get_coefficients() const cs = cs * (1./(data.size() - 1)); #if defined DEBUG_PRINT - fwprintf(stderr, L"v:change-of h:due-to\n"); - fwprintf(stderr, L"%10s ", L""); - for (unsigned k = 0; k < 6; k++) - fwprintf(stderr, L"%10s", names[k]); - fwprintf(stderr, L"\n"); + fprintf(stderr, "v:change-of h:due-to\n"); + fprintf(stderr, "%10s ", ""); + for (char const* k : names) + fprintf(stderr, "%10s", k); + fprintf(stderr, "\n"); for (unsigned i = 0; i < 6; i++) { - fwprintf(stderr, L"%10s ", names[i]); + fprintf(stderr, "%10s ", names[i]); for (unsigned k = 0; k < 6; k++) - fwprintf(stderr, L"%10.3f", cs(i, k)); - fwprintf(stderr, L"\n"); + fprintf(stderr, "%10.3f", cs(i, k)); + fprintf(stderr, "\n"); } fflush(stderr); #endif @@ -162,3 +156,5 @@ unsigned correlation_calibrator::sample_count() const { return data.size(); } + +} // ns correlation_calibrator_impl |