mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-01 13:14:06 +08:00
97 lines
2.8 KiB
C++
97 lines
2.8 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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 <siddharthbharatpurohit@gmail.com>
|
|
*/
|
|
#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 <typename Type>
|
|
static constexpr Type min(Type val1, Type val2)
|
|
{
|
|
return (val1 < val2) ? val1 : val2;
|
|
}
|
|
|
|
template <typename Type>
|
|
static constexpr Type max(Type val1, Type val2)
|
|
{
|
|
return (val1 > val2) ? val1 : val2;
|
|
}
|
|
|
|
template <typename Type>
|
|
static constexpr Type constrain(Type val, Type min, Type max)
|
|
{
|
|
return (val < min) ? min : ((val > max) ? max : val);
|
|
}
|
|
|
|
template <typename Type>
|
|
static constexpr Type radians(Type degrees)
|
|
{
|
|
return (degrees / Type(180)) * Type(M_PI);
|
|
}
|
|
|
|
template <typename Type>
|
|
static constexpr Type degrees(Type radians)
|
|
{
|
|
return (radians * Type(180)) / Type(M_PI);
|
|
}
|
|
|
|
} // namespace math
|
|
#else
|
|
|
|
#include <mathlib/mathlib.h>
|
|
|
|
#endif // ECL_STANDALONE
|
|
#endif // MATHLIB_H
|