gps_pvt 0.3.3 → 0.4.0

data/ext/ninja-scan-light/tool/algorithm/integral.h

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2015, M.Naruoka (fenrir)
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the naruoka.org nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+ * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef __INTEGRAL_H
+#define __INTEGRAL_H
+
+/** @file
+ * @brief �ϕ��@���L�q�����t�@�C���ł��B
+ * 
+ * �ϕ��@���L�q�����t�@�C���ł��B
+ * ���݂̓I�C���[�@�ARunge-Kutta�@(2���A4��)��3��ނ̐ϕ��@���T�|�[�g���Ă��܂��B
+ *  
+ */
+
+/**
+ * Runge-Kutta�@(4��)�ɂ��ϕ�
+ * 
+ * @param f ����������\f$ f(x, y) \f$
+ * @param x ��ԗ�
+ * @param y �ړI��
+ * @param h ��ԗʂ̍���
+ * @return �w���ԗʍ������o�߂����ۂ̖ړI��
+ */
+template <class Function, class V1, class V2>
+V2 nextByRK4(const Function &f, const V1 &x, const V2 &y, const V1 &h){
+  V2 k1(f(x, y) * h);
+  V2 k2(f(x + h/2, y + k1/2) * h);
+  V2 k3(f(x + h/2, y + k2/2) * h);
+  V2 k4(f(x + h, y + k3) * h);
+  return y + (k1 + k2*2 + k3*2 + k4)/6;
+}
+
+/**
+ * Runge-Kutta�@(2��)�ɂ��ϕ�
+ * 
+ * @param f ����������\f$ f(x, y) \f$
+ * @param x ��ԗ�
+ * @param y �ړI��
+ * @param h ��ԗʂ̍���
+ * @return �w���ԗʍ������o�߂����ۂ̖ړI��
+ */
+template <class Function, class V1, class V2>
+V2 nextByRK2(const Function &f, const V1 &x, const V2 &y, const V1 &h){
+  V2 k1(f(x, y) * h);
+  V2 k2(f(x + h, y + k1) * h);
+  return y + (k1 + k2)/2;
+}
+
+/**
+ * Euler�@(1��)�ɂ��ϕ�
+ * 
+ * @param f ����������\f$ f(x, y) \f$
+ * @param x ��ԗ�
+ * @param y �ړI��
+ * @param h ��ԗʂ̍���
+ * @return �w���ԗʍ������o�߂����ۂ̖ړI��
+ */
+template <class Function, class V1, class V2>
+V2 nextByEuler(const Function &f, const V1 &x, const V2 &y, const V1 &h){
+  return y + f(x, y) * h;
+}
+
+#endif /* __INTEGRAL_H */