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40 lines
519 B
40 lines
519 B
#pragma once |
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#include "math.hpp" |
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namespace matrix |
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{ |
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template<typename Type> |
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bool is_finite(Type x) { |
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#if defined (__PX4_NUTTX) |
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return PX4_ISFINITE(x); |
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#elif defined (__PX4_QURT) |
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return __builtin_isfinite(x); |
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#else |
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return std::isfinite(x); |
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#endif |
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} |
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template<typename Type> |
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Type wrap_pi(Type x) |
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{ |
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if (!is_finite(x)) { |
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return x; |
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} |
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while (x >= Type(M_PI)) { |
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x -= Type(2.0 * M_PI); |
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} |
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while (x < Type(-M_PI)) { |
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x += Type(2.0 * M_PI); |
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} |
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return x; |
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} |
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}
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