Обновлена IRS

Source/INS/util/Record.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#ifndef RECORD_H
+#define RECORD_H
+
+#include "Vector.h"
+#include "Quaternion.h"
+
+template <typename T>
+class Record
+{
+public:
+  Record() {};
+  Record(T* RecordBuffer, float Frequency, float Period); // BufferSize = (Frequency * Period) + 1;
+  
+private:
+  float Freq;
+  unsigned long Count;
+  T* Buffer;
+  T Shift;
+  unsigned long Index = 0;
+
+public:
+  void Init(T* RecordBuffer, float Frequency, float Period); // BufferSize = (Frequency * Period) + 1;
+
+  T Past(float Time) const;
+
+  void Add(const T& Value);
+
+  void Mix(const T& Shift);
+};
+
+template <typename T>
+class Average
+{
+private:
+  T Value;
+  float Count = 0;
+
+public:
+  void Set(const T& Val) { Value += Val; Count++; }
+  T Get() { if (Count == 0.0f) return T(); T ave = Value / Count; Count = 0; Value = 0.0f; return ave; }
+};
+
+#endif