BlockStats.hpp

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/**
 * @file blocks.h
 *
 * Controller library code
 */

#pragma once

#include <px4_platform_common/defines.h>
#include <assert.h>
#include <time.h>
#include <stdlib.h>
#include <math.h>
#include <mathlib/math/test/test.hpp>
#include <mathlib/math/filter/LowPassFilter2p.hpp>

#include "block/Block.hpp"
#include "block/BlockParam.hpp"

#include "matrix/math.hpp"

namespace control
{
template<class Type, size_t M>
class __EXPORT BlockStats: public Block
{

public:
// methods
    BlockStats(SuperBlock *parent,
           const char *name) :
        Block(parent, name),
        _sum(),
        _sumSq(),
        _count(0)
    {}
    virtual ~BlockStats() = default;
    void update(const matrix::Vector<Type, M> &u)
    {
        _sum += u;
        _sumSq += u.emult(u);
        _count += 1;
    }
    void reset()
    {
        _sum.setZero();
        _sumSq.setZero();
        _count = 0;
    }
// accessors
    size_t getCount() { return _count; }
    matrix::Vector<Type, M> getMean() { return _sum / _count; }
    matrix::Vector<Type, M> getVar()
    {
        return (_sumSq - _sum.emult(_sum) / _count) / _count;
    }
    matrix::Vector<Type, M> getStdDev()
    {
        return getVar().sqrt();
    }
private:
// attributes
    matrix::Vector<Type, M> _sum;
    matrix::Vector<Type, M> _sumSq;
    size_t _count;
};

} // namespace control