/**
* @brief Set the plane with 3 points in the space
* @param[in] _p0 First point
* @param[in] _p1 Second point
* @param[in] _p2 Thrid point
*/
void setFromPoints(const etk::Vector3D<T>& _p0,
const etk::Vector3D<T>& _p1,
const etk::Vector3D<T>& _p2) {
m_normal = (_p1 - _p0).cross(_p2 - _p0);
m_normal.normalize();
calculateIntercept(_p0);
}
int cTrendLine::Create(flarb_mapbuilder::MapImage &msg, int x, int y)
{
yAxisValuesSum = 0;
xAxisValuesSum = 0;
//arrray Max points from laser
int yAxisValues[1081];
int xAxisValues[1081];
int ptr = 0;
//from here till line 52 must be rebuild to levels
//now he tries the whole level(Image)
// Iterator
vector<uint8_t>::const_iterator itr = msg.data.begin();
// Write the image to the buffer
for( int y = 0; y < 512; y++)
{
for( int x = 0; x < (512 / 8); x++)
{
//Get value and advance the iterator
int val = *(itr);
itr++;
//note all the x and y locations and count them
for(int i = 0; i < 7; i++){
if(1 == (val & ( 1 << i )))
{
yAxisValues[ptr] = y;
yAxisValuesSum += y;
xAxisValues[ptr] = x * 8;
xAxisValuesSum += x;
ptr++;
}
}
}
}
//unnecessary pointer
count = ptr;
//sum of x and y
xxSum = 0;
xySum = 0;
for (int i = 0; i < count; i++)
{
xySum += ( xAxisValues[i] * yAxisValues[i] );
xxSum += ( xAxisValues[i] * xAxisValues[i] );
}
Slope = calculateSlope();
Intercept = calculateIntercept();
Start = calculateStart();
End = calculateEnd();
return 1;
}
