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Changed M_PI to M_PI_F in the matrix library since M_PI is non-standard. (#20458)

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* Changed M_PI to M_PI_F in the matrix library since M_PI is non-standard.

* Added a new M_PI_PRECISE constant definition to px4_platform_common/defines.h to be
used in places when M_PI is desired but shouldn't be used because it is not C standard.

* Added the px4_platform_common/defines.h include to the matrix library math.hpp header to pull
in some non-standard M_PI constants and updated the test files to use those constants.

* Fixed PI constants in matrix helper test to prevent test failure
This commit is contained in:
Eric Katzfey
2022-10-31 11:51:23 -04:00
committed by GitHub
parent ba3f3935ab
commit 34c852255e
7 changed files with 23 additions and 18 deletions
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src/lib/matrix/test/MatrixAttitudeTest.cpp
+3 -3
View File
@@ -200,8 +200,8 @@ TEST(MatrixAttitudeTest, Attitude)
}
// constants
double deg2rad = M_PI / 180.0;
double rad2deg = 180.0 / M_PI;
double deg2rad = M_PI_PRECISE / 180.0;
double rad2deg = 180.0 / M_PI_PRECISE;
// euler dcm round trip check
for (double roll = -90; roll <= 90; roll += 90) {
@@ -417,7 +417,7 @@ TEST(MatrixAttitudeTest, Attitude)
EXPECT_EQ(q, q_true);
// from axis angle, with length of vector the rotation
float n = float(std::sqrt(4 * M_PI * M_PI / 3));
float n = float(std::sqrt(4 * M_PI_F * M_PI_F / 3));
q = AxisAnglef(n, n, n);
EXPECT_EQ(q, Quatf(-1, 0, 0, 0));
q = AxisAnglef(0, 0, 0);
src/lib/matrix/test/MatrixHelperTest.cpp
+8 -8
View File
@@ -81,20 +81,20 @@ TEST(MatrixHelperTest, Helper)
// wrap pi
EXPECT_FLOAT_EQ(wrap_pi(0.), 0.);
EXPECT_FLOAT_EQ(wrap_pi(4.), (4. - (2 * M_PI)));
EXPECT_FLOAT_EQ(wrap_pi(-4.), (-4. + (2 * M_PI)));
EXPECT_FLOAT_EQ(wrap_pi(4.), (4. - (2 * M_PI_PRECISE)));
EXPECT_FLOAT_EQ(wrap_pi(-4.), (-4. + (2 * M_PI_PRECISE)));
EXPECT_FLOAT_EQ(wrap_pi(3.), 3.);
EXPECT_FLOAT_EQ(wrap_pi(100.), (100. - 32. * M_PI));
EXPECT_FLOAT_EQ(wrap_pi(-100.), (-100. + 32. * M_PI));
EXPECT_FLOAT_EQ(wrap_pi(-101.), (-101. + 32. * M_PI));
EXPECT_FLOAT_EQ(wrap_pi(100.), (100. - 32. * M_PI_PRECISE));
EXPECT_FLOAT_EQ(wrap_pi(-100.), (-100. + 32. * M_PI_PRECISE));
EXPECT_FLOAT_EQ(wrap_pi(-101.), (-101. + 32. * M_PI_PRECISE));
EXPECT_FALSE(std::isfinite(wrap_pi(NAN)));
// wrap 2pi
EXPECT_FLOAT_EQ(wrap_2pi(0.), 0.);
EXPECT_FLOAT_EQ(wrap_2pi(-4.), (-4. + 2. * M_PI));
EXPECT_FLOAT_EQ(wrap_2pi(-4.), (-4. + 2. * M_PI_PRECISE));
EXPECT_FLOAT_EQ(wrap_2pi(3.), (3.));
EXPECT_FLOAT_EQ(wrap_2pi(200.), (200. - 31. * (2 * M_PI)));
EXPECT_FLOAT_EQ(wrap_2pi(-201.), (-201. + 32. * (2 * M_PI)));
EXPECT_FLOAT_EQ(wrap_2pi(200.), (200. - 31. * (2 * M_PI_PRECISE)));
EXPECT_FLOAT_EQ(wrap_2pi(-201.), (-201. + 32. * (2 * M_PI_PRECISE)));
EXPECT_FALSE(std::isfinite(wrap_2pi(NAN)));
// Equality checks
src/lib/matrix/test/MatrixUnwrapTest.cpp
+2 -2
View File
@@ -5,7 +5,7 @@ using namespace matrix;
TEST(MatrixUnwrapTest, UnwrapFloats)
{
const float M_TWO_PI_F = float(M_PI * 2);
const float M_TWO_PI_F = float(M_PI_F * 2);
float unwrapped_angles[6] = {0.0, 0.25, 0.5, 0.75, 1.0, 1.25};
float wrapped_angles[6] = {0.0, 0.25, 0.5, -0.25, 0.0, 0.25};
@@ -34,7 +34,7 @@ TEST(MatrixUnwrapTest, UnwrapFloats)
TEST(MatrixUnwrapTest, UnwrapDoubles)
{
const double M_TWO_PI = M_PI * 2;
const double M_TWO_PI = M_PI_PRECISE * 2;
double unwrapped_angles[6] = {0.0, 0.25, 0.5, 0.75, 1.0, 1.25};
double wrapped_angles[6] = {0.0, 0.25, 0.5, -0.25, 0.0, 0.25};