Create Interpolation Fastcat Device

[alex-brinkman]

Add a new Fastcat Device to implement a interpolation table

YAML Inputs:

• Single Fastcat Signal
• variable-length domain array of length N
• variable-length range arrays of length N
• out-of-bounds behavior (to either fault or saturate signal)

Function:

• During initialization, sort the domain and range by domain.
• Evaluate the signal for current timestamp
• find where within the domain this sample lies (e.g. domain[i] < signal < domain[i+1])
  • If out-of-bounds, fault or saturate signal
  • Otherwise, evaluate linear interpolation between [i] and [i+1] something like...

  output = (signal - domain[i]) * (range[i+1] - range[i]) / (domain[i+1] - domain[i]) + (range[i])

Consider precomputing the Slope terms.