/**************************************************************************** * * Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file mathlib.h * * Target specific math functions and definitions * * @author Siddharth Bharat Purohit */ #ifndef MATHLIB_H #define MATHLIB_H #ifdef ECL_STANDALONE #ifndef M_PI_F #define M_PI_F 3.14159265358979323846f #endif #ifndef M_PI_2_F #define M_PI_2_F (M_PI / 2.0f) #endif #ifndef M_PI #define M_PI 3.141592653589793238462643383280 #endif namespace math { template Type min(Type val1, Type val2) { return (val1 < val2) ? val1 : val2; } template Type max(Type val1, Type val2) { return (val1 > val2) ? val1 : val2; } template Type constrain(Type val, Type min, Type max) { return (val < min) ? min : ((val > max) ? max : val); } template Type radians(Type degrees) { return (degrees / Type(180)) * Type(M_PI); } template Type degrees(Type radians) { return (radians * Type(180)) / Type(M_PI); } } // namespace math #else #include #endif // ECL_STANDALONE #endif // MATHLIB_H