Daniel Agar
3 years ago
32 changed files with 297 additions and 323 deletions
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/**************************************************************************** |
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* |
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* Copyright (C) 2022 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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// minimal cmath |
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#pragma once |
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#include <cstdlib> |
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#include <inttypes.h> |
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#include <math.h> |
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#ifndef M_PI |
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#define M_PI 3.14159265358979323846 |
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#endif |
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namespace std |
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{ |
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#if !defined(FLT_EPSILON) |
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#define FLT_EPSILON __FLT_EPSILON__ |
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#endif |
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#ifdef isfinite |
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#undef isfinite |
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#endif // isfinite |
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inline bool isfinite(float value) { return __builtin_isfinite(value); } |
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inline bool isfinite(double value) { return __builtin_isfinite(value); } |
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inline bool isfinite(long double value) { return __builtin_isfinite(value); } |
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#ifdef isnan |
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#undef isnan |
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#endif // isnan |
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inline bool isnan(float value) { return __builtin_isnan(value); } |
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inline bool isnan(double value) { return __builtin_isnan(value); } |
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inline bool isnan(long double value) { return __builtin_isnan(value); } |
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#ifdef isinf |
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#undef isinf |
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#endif // isinf |
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inline bool isinf(float value) { return __builtin_isinf_sign(value); } |
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inline bool isinf(double value) { return __builtin_isinf_sign(value); } |
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inline bool isinf(long double value) { return __builtin_isinf_sign(value); } |
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/* |
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* NuttX has no usable C++ math library, so we need to provide the needed definitions here manually. |
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*/ |
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#define NUTTX_WRAP_MATH_FUN_UNARY(name) \ |
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inline float name(float x) { return ::name##f(x); } \ |
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inline double name(double x) { return ::name(x); } \ |
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inline long double name(long double x) { return ::name##l(x); } |
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#define NUTTX_WRAP_MATH_FUN_BINARY(name) \ |
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inline float name(float x, float y) { return ::name##f(x, y); } \ |
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inline double name(double x, double y) { return ::name(x, y); } \ |
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inline long double name(long double x, long double y) { return ::name##l(x, y); } |
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NUTTX_WRAP_MATH_FUN_UNARY(fabs) |
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NUTTX_WRAP_MATH_FUN_UNARY(log) |
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NUTTX_WRAP_MATH_FUN_UNARY(log10) |
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NUTTX_WRAP_MATH_FUN_UNARY(exp) |
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NUTTX_WRAP_MATH_FUN_UNARY(sqrt) |
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NUTTX_WRAP_MATH_FUN_UNARY(sin) |
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NUTTX_WRAP_MATH_FUN_UNARY(cos) |
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NUTTX_WRAP_MATH_FUN_UNARY(tan) |
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NUTTX_WRAP_MATH_FUN_UNARY(asin) |
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NUTTX_WRAP_MATH_FUN_UNARY(acos) |
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NUTTX_WRAP_MATH_FUN_UNARY(atan) |
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NUTTX_WRAP_MATH_FUN_UNARY(sinh) |
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NUTTX_WRAP_MATH_FUN_UNARY(cosh) |
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NUTTX_WRAP_MATH_FUN_UNARY(tanh) |
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NUTTX_WRAP_MATH_FUN_UNARY(ceil) |
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NUTTX_WRAP_MATH_FUN_UNARY(floor) |
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NUTTX_WRAP_MATH_FUN_BINARY(pow) |
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NUTTX_WRAP_MATH_FUN_BINARY(atan2) |
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} |
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/**
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* @file stdlib_imports.hpp |
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* |
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* This file is needed to shadow the C standard library math functions with ones provided by the C++ standard library. |
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* This way we can guarantee that unwanted functions from the C library will never creep back in unexpectedly. |
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* |
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* @author Pavel Kirienko <pavel.kirienko@zubax.com> |
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*/ |
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#pragma once |
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#include <cmath> |
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#include <cstdlib> |
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#include <inttypes.h> |
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#ifndef M_PI |
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#define M_PI 3.14159265358979323846 |
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#endif |
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#ifndef M_TWOPI |
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#define M_TWOPI (M_PI * 2.0) |
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#endif |
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namespace matrix |
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{ |
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#if !defined(FLT_EPSILON) |
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#define FLT_EPSILON __FLT_EPSILON__ |
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#endif |
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#if defined(__PX4_NUTTX) |
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/*
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* NuttX has no usable C++ math library, so we need to provide the needed definitions here manually. |
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*/ |
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#define MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(name) \ |
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inline float name(float x) { return ::name##f(x); } \
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inline double name(double x) { return ::name(x); } \
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inline long double name(long double x) { return ::name##l(x); } |
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#define MATRIX_NUTTX_WRAP_MATH_FUN_BINARY(name) \ |
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inline float name(float x, float y) { return ::name##f(x, y); } \
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inline double name(double x, double y) { return ::name(x, y); } \
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inline long double name(long double x, long double y) { return ::name##l(x, y); } |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(fabs) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(log) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(log10) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(exp) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(sqrt) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(sin) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(cos) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(tan) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(asin) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(acos) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(atan) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(sinh) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(cosh) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(tanh) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(ceil) |
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MATRIX_NUTTX_WRAP_MATH_FUN_UNARY(floor) |
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MATRIX_NUTTX_WRAP_MATH_FUN_BINARY(pow) |
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MATRIX_NUTTX_WRAP_MATH_FUN_BINARY(atan2) |
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#else // Not NuttX, using the C++ standard library
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using std::abs; |
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using std::div; |
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using std::fabs; |
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using std::fmod; |
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using std::exp; |
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using std::log; |
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using std::log10; |
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using std::pow; |
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using std::sqrt; |
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using std::sin; |
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using std::cos; |
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using std::tan; |
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using std::asin; |
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using std::acos; |
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using std::atan; |
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using std::atan2; |
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using std::sinh; |
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using std::cosh; |
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using std::tanh; |
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using std::ceil; |
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using std::floor; |
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using std::frexp; |
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using std::ldexp; |
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using std::modf; |
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# if (__cplusplus >= 201103L) |
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using std::remainder; |
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using std::remquo; |
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using std::fma; |
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using std::fmax; |
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using std::fmin; |
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using std::fdim; |
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using std::nan; |
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using std::nanf; |
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using std::nanl; |
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using std::exp2; |
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using std::expm1; |
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using std::log2; |
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using std::log1p; |
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using std::cbrt; |
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using std::hypot; |
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using std::asinh; |
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using std::acosh; |
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using std::atanh; |
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using std::erf; |
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using std::erfc; |
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using std::tgamma; |
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using std::lgamma; |
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using std::trunc; |
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using std::round; |
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using std::nearbyint; |
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using std::rint; |
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using std::scalbn; |
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using std::ilogb; |
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using std::logb; |
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using std::nextafter; |
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using std::copysign; |
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using std::fpclassify; |
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using std::isfinite; |
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using std::isinf; |
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using std::isnan; |
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using std::isnormal; |
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using std::signbit; |
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using std::isgreater; |
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using std::isgreaterequal; |
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using std::isless; |
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using std::islessequal; |
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using std::islessgreater; |
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using std::isunordered; |
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# endif |
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#endif |
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} |
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