Merge branch 'main' into feature/motorgo-mini

components/math/include/bezier.hpp

@@ -10,6 +10,20 @@ namespace espp {
  *       curves.
  * @note Template class which can be used individually on floating point
  *       values directly or on containers such as Vector2d<float>.
+ * @tparam T The type of the control points, e.g. float or Vector2d<float>.
+ * @note The bezier curve is defined by 4 control points, P0, P1, P2, P3.
+ *      The curve is defined by the equation:
+ *      \f$B(t) = (1-t)^3 * P0 + 3 * (1-t)^2 * t * P1 + 3 * (1-t) * t^2 * P2 + t^3 * P3\f$
+ *      where t is the evaluation parameter, [0, 1].
+ *
+ * @note The weighted bezier curve is defined by 4 control points, P0, P1, P2, P3
+ *      and 4 weights, W0, W1, W2, W3.
+ *      The curve is defined by the equation:
+ *      \f$B(t) = (W0 * (1-t)^3 * P0 + W1 * 3 * (1-t)^2 * t * P1 + W2 * 3 * (1-t) * t^2 * P2 + W3 *
+ * t^3 * P3) / (W0 + W1 + W2 + W3)\f$ where t is the evaluation parameter, [0, 1].
+ *
+ * \section bezier_ex1 Example
+ * \snippet math_example.cpp bezier example
  */
 template <typename T> class Bezier {
 public:

components/math/include/gaussian.hpp

@@ -8,6 +8,9 @@ namespace espp {
  *        \f$y(t)=\alpha\exp(-\frac{(t-\beta)^2}{2\gamma^2})\f$.
  * @details Alows you to store the alpha, beta, and gamma coefficients as well
  *          as update them dynamically.
+ *
+ * \section gaussian_ex1 Example
+ * \snippet math_example.cpp gaussian example
  */
 class Gaussian {
 public:

components/math/include/range_mapper.hpp

@@ -29,6 +29,9 @@ namespace espp {
  *        The RangeMapper can be optionally configured to invert the output,
  *        so that after converting from the input range to the output range,
  *        it will flip the sign on the output.
+ *
+ * \section range_mapper_ex1 Example
+ * \snippet math_example.cpp range_mapper example
  */
 template <typename T> class RangeMapper {
 public:

components/math/include/vector2d.hpp

@@ -9,6 +9,9 @@ namespace espp {
  *
  * Provides getters/setters, index operator, and vector / scalar math
  * utilities.
+ *
+ * \section vector_ex1 Example
+ * \snippet math_example.cpp vector2d example
  */
 template <typename T> class Vector2d {
 public:

doc/en/math/fast_math.rst

@@ -11,8 +11,13 @@ optimized approximations of the following functions:
 
 along with some utility functions:
 
+* square (x^2)
+* cube (x^3)
 * sgn (sign of a number)
 * round (round floating point value to nearest integer value)
+* lerp (linear interpolate between two points)
+* inv_lerp (inverse linear interpolate between two points)
+* piecewise_linear (compute the piecewise linear interpolation between a set of points)
 
 .. ---------------------------- API Reference ----------------------------------