math_util.h

#pragma once
#include "Eigen/Dense"
#include "core/utils/geometry.h"
#include "math.h"
#include "vex.h"
#include <vector>
#include "core/utils/math/geometry/translation2d.h"

double clamp(double value, double low, double high);

double lerp(double a, double b, double t);
double sign(double x);
 
double wrap_angle_deg(double input);
double wrap_angle_rad(double input);
 
/*
Calculates the variance of  a set of numbers (needed for linear regression)
https://en.wikipedia.org/wiki/Variance
@param values   the values for which the variance is taken
@param mean     the average of values
*/
double variance(std::vector<double> const &values, double mean);
 
/*
Calculates the average of a vector of doubles
@param values   the list of values for which the average is taken
*/
double mean(std::vector<double> const &values);
 
/*
Calculates the covariance of a set of points (needed for linear regression)
https://en.wikipedia.org/wiki/Covariance
 
@param points   the points for which the covariance is taken
@param meanx    the mean value of all x coordinates in points
@param meany    the mean value of all y coordinates in points
*/
double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany);
 
/*
Calculates the slope and y intercept of the line of best fit for the data
@param points the points for the data
*/
std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points);
 
double estimate_path_length(const std::vector<Translation2d> &points);