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58 lines
1.9 KiB
58 lines
1.9 KiB
8 years ago
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* Incremental Least Squares Best Fit By Roxy and Ed Williams
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*
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* This algorithm is high speed and has a very small code footprint.
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* Its results are identical to both the Iterative Least-Squares published
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* earlier by Roxy and the QR_SOLVE solution. If used in place of QR_SOLVE
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* it saves roughly 10K of program memory. And even better... the data
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* fed into the algorithm does not need to all be present at the same time.
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* A point can be probed and its values fed into the algorithm and then discarded.
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*
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*/
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL) // Currently only used by UBL, but is applicable to Grid Based (Linear) Bed Leveling
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#include "Marlin.h"
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#include "macros.h"
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#include <math.h>
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struct linear_fit_data {
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int n;
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float xbar, ybar, zbar;
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float x2bar, y2bar, z2bar;
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float xybar, xzbar, yzbar;
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float max_absx, max_absy;
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float A, B, D;
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};
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void incremental_LSF_reset(struct linear_fit_data *);
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void incremental_LSF(struct linear_fit_data *, float x, float y, float z);
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int finish_incremental_LSF(struct linear_fit_data *);
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#endif
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