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96 lines
2.8 KiB
96 lines
2.8 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012, 2014 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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/** |
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* @file mathlib.h |
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* |
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* Target specific math functions and definitions |
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* |
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* @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com> |
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*/ |
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#ifndef MATHLIB_H |
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#define MATHLIB_H |
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#ifdef ECL_STANDALONE |
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#ifndef M_PI_F |
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#define M_PI_F 3.14159265358979323846f |
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#endif |
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#ifndef M_PI_2_F |
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#define M_PI_2_F (M_PI / 2.0f) |
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#endif |
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#ifndef M_PI |
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#define M_PI 3.141592653589793238462643383280 |
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#endif |
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namespace math |
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{ |
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template <typename Type> |
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static constexpr Type min(Type val1, Type val2) |
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{ |
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return (val1 < val2) ? val1 : val2; |
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} |
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template <typename Type> |
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static constexpr Type max(Type val1, Type val2) |
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{ |
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return (val1 > val2) ? val1 : val2; |
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} |
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template <typename Type> |
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static constexpr Type constrain(Type val, Type min, Type max) |
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{ |
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return (val < min) ? min : ((val > max) ? max : val); |
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} |
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template <typename Type> |
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static constexpr Type radians(Type degrees) |
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{ |
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return (degrees / Type(180)) * Type(M_PI); |
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} |
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template <typename Type> |
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static constexpr Type degrees(Type radians) |
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{ |
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return (radians * Type(180)) / Type(M_PI); |
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} |
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} // namespace math |
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#else |
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#include <mathlib/mathlib.h> |
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#endif // ECL_STANDALONE |
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#endif // MATHLIB_H
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