Firmware2/Marlin/least_squares_fit.h

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