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define M_PI if not defined in math.h

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Pernilla 2025-07-22 10:51:39 +02:00 committed by Eric Katzfey
parent 7e5cc020c3
commit d70eecc17d
6 changed files with 19 additions and 17 deletions
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4
platforms/common/include/px4_platform_common/defines.h
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@ -143,7 +143,9 @@ __END_DECLS
/* The M_PI, as stated above, is not C standard. If you need it and
* it isn't in your math.h file then you can use this instead. */
#define M_PI_PRECISE 3.141592653589793238462643383279502884
#ifndef M_PI
#define M_PI 3.141592653589793238462643383279502884
#endif
#define M_DEG_TO_RAD 0.017453292519943295
#define M_RAD_TO_DEG 57.295779513082323

4
src/lib/matrix/matrix/Euler.hpp
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@ -85,11 +85,11 @@ public:
{
theta() = std::asin(-dcm(2, 0));
if ((std::fabs(theta() - Type(M_PI_PRECISE / 2))) < Type(1.0e-3)) {
if ((std::fabs(theta() - Type(M_PI / 2))) < Type(1.0e-3)) {
phi() = 0;
psi() = std::atan2(dcm(1, 2), dcm(0, 2));
} else if ((std::fabs(theta() + Type(M_PI_PRECISE / 2))) < Type(1.0e-3)) {
} else if ((std::fabs(theta() + Type(M_PI / 2))) < Type(1.0e-3)) {
phi() = 0;
psi() = std::atan2(-dcm(1, 2), -dcm(0, 2));

6
src/lib/matrix/matrix/helper_functions.hpp
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@ -97,7 +97,7 @@ Integer wrap(Integer x, Integer low, Integer high)
template<typename Type>
Type wrap_pi(Type x)
{
return wrap(x, Type(-M_PI_PRECISE), Type(M_PI_PRECISE));
return wrap(x, Type(-M_PI), Type(M_PI));
}
/**
@ -106,7 +106,7 @@ Type wrap_pi(Type x)
template<typename Type>
Type wrap_2pi(Type x)
{
return wrap(x, Type(0), Type((2 * M_PI_PRECISE)));
return wrap(x, Type(0), Type((2 * M_PI)));
}
/**
@ -134,7 +134,7 @@ Type unwrap(const Type last_x, const Type new_x, const Type low, const Type high
template<typename Type>
Type unwrap_pi(const Type last_angle, const Type new_angle)
{
return unwrap(last_angle, new_angle, Type(-M_PI_PRECISE), Type(M_PI_PRECISE));
return unwrap(last_angle, new_angle, Type(-M_PI), Type(M_PI));
}
/**

4
src/lib/matrix/test/MatrixAttitudeTest.cpp
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@ -200,8 +200,8 @@ TEST(MatrixAttitudeTest, Attitude)
}
// constants
double deg2rad = M_PI_PRECISE / 180.0;
double rad2deg = 180.0 / M_PI_PRECISE;
double deg2rad = M_PI / 180.0;
double rad2deg = 180.0 / M_PI;
// euler dcm round trip check
for (double roll = -90; roll <= 90; roll += 90) {

16
src/lib/matrix/test/MatrixHelperTest.cpp
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@ -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_PRECISE)));
EXPECT_FLOAT_EQ(wrap_pi(-4.), (-4. + (2 * M_PI_PRECISE)));
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(3.), 3.);
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_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_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_PRECISE));
EXPECT_FLOAT_EQ(wrap_2pi(-4.), (-4. + 2. * M_PI));
EXPECT_FLOAT_EQ(wrap_2pi(3.), (3.));
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_FLOAT_EQ(wrap_2pi(200.), (200. - 31. * (2 * M_PI)));
EXPECT_FLOAT_EQ(wrap_2pi(-201.), (-201. + 32. * (2 * M_PI)));
EXPECT_FALSE(std::isfinite(wrap_2pi(NAN)));
// Equality checks

2
src/lib/matrix/test/MatrixUnwrapTest.cpp
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@ -34,7 +34,7 @@ TEST(MatrixUnwrapTest, UnwrapFloats)
TEST(MatrixUnwrapTest, UnwrapDoubles)
{
const double M_TWO_PI = M_PI_PRECISE * 2;
const double M_TWO_PI = M_PI * 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};