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Miha Kralj
2026-01-25 16:01:45 -08:00
parent 2836f253c4
commit e59665c8f0
399 changed files with 6892 additions and 1323 deletions
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lib/numerics/jerk/Jerk.cs
+66 -16
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@@ -78,8 +78,8 @@ public sealed class Jerk : AbstractBase
if (_state.Count >= 3)
{
// jerk = val - 3*prev1 + 3*prev2 - prev3
// Using FMA: val - 3*prev1 + 3*prev2 - prev3
// jerk = val - 3*prev1 + 3*prev2 - prev3
// Using FMA: val - 3*prev1 + 3*prev2 - prev3
// = FMA(-3, prev1, val) + FMA(3, prev2, -prev3)
double term1 = Math.FusedMultiplyAdd(-3.0, _state.Prev1, val);
double term2 = Math.FusedMultiplyAdd(3.0, _state.Prev2, -_state.Prev3);
@@ -127,7 +127,10 @@ public sealed class Jerk : AbstractBase
public override TSeries Update(TSeries source)
{
if (source.Count == 0) return [];
if (source.Count == 0)
{
return [];
}
int len = source.Count;
@@ -211,18 +214,34 @@ public sealed class Jerk : AbstractBase
public static void Calculate(ReadOnlySpan<double> source, Span<double> output)
{
if (source.Length != output.Length)
{
throw new ArgumentException("Source and output must have the same length", nameof(output));
}
int len = source.Length;
if (len == 0) return;
if (len == 0)
{
return;
}
// First three elements have insufficient history
output[0] = 0.0;
if (len == 1) return;
if (len == 1)
{
return;
}
output[1] = 0.0;
if (len == 2) return;
if (len == 2)
{
return;
}
output[2] = 0.0;
if (len == 3) return;
if (len == 3)
{
return;
}
int i = 3;
@@ -339,10 +358,25 @@ public sealed class Jerk : AbstractBase
// Handle NaN/Infinity by substitution (find first finite value)
double fallback = FindFinite(curr, p1, p2, p3);
if (!double.IsFinite(curr)) curr = fallback;
if (!double.IsFinite(p1)) p1 = fallback;
if (!double.IsFinite(p2)) p2 = fallback;
if (!double.IsFinite(p3)) p3 = fallback;
if (!double.IsFinite(curr))
{
curr = fallback;
}
if (!double.IsFinite(p1))
{
p1 = fallback;
}
if (!double.IsFinite(p2))
{
p2 = fallback;
}
if (!double.IsFinite(p3))
{
p3 = fallback;
}
// jerk = curr - 3*prev1 + 3*prev2 - prev3
double term1 = Math.FusedMultiplyAdd(-3.0, p1, curr);
@@ -354,10 +388,26 @@ public sealed class Jerk : AbstractBase
[MethodImpl(MethodImplOptions.AggressiveInlining)]
private static double FindFinite(double a, double b, double c, double d)
{
if (double.IsFinite(a)) return a;
if (double.IsFinite(b)) return b;
if (double.IsFinite(c)) return c;
if (double.IsFinite(d)) return d;
if (double.IsFinite(a))
{
return a;
}
if (double.IsFinite(b))
{
return b;
}
if (double.IsFinite(c))
{
return c;
}
if (double.IsFinite(d))
{
return d;
}
return 0.0;
}
}
}