| 108 | |
| 109 | |
| 110 | float DistanceTable::minimum(uint8_t &x, uint8_t &y) |
| 111 | { |
| 112 | float mi = _distanceTable[0]; |
| 113 | x = 0; |
| 114 | y = 0; |
| 115 | for (uint8_t xx = 1; xx < _dimension; xx++) |
| 116 | { |
| 117 | uint16_t index = (xx * (xx - 1))/2; |
| 118 | for (uint8_t yy = 0; yy < xx; yy++) |
| 119 | { |
| 120 | float value = _distanceTable[index + yy]; |
| 121 | if (value < mi) |
| 122 | { |
| 123 | mi = value; |
| 124 | x = xx; |
| 125 | y = yy; |
| 126 | } |
| 127 | else if (_invert) |
| 128 | { |
| 129 | value = -value; |
| 130 | if (value < mi) |
| 131 | { |
| 132 | mi = value; |
| 133 | x = yy; |
| 134 | y = xx; |
| 135 | } |
| 136 | } |
| 137 | } |
| 138 | } |
| 139 | return mi; |
| 140 | } |
| 141 | |
| 142 | |
| 143 | float DistanceTable::maximum(uint8_t &x, uint8_t &y) |