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uncrustify libraries/AP_Math/AP_Math.cpp

This commit is contained in:
uncrustify 2012-08-16 23:20:14 -07:00 committed by Pat Hickey
parent 931ff231ef
commit 23341c6390
1 changed files with 40 additions and 40 deletions
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80
libraries/AP_Math/AP_Math.cpp
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@ -5,16 +5,16 @@
// returned.
float safe_asin(float v)
{
if (isnan(v)) {
return 0.0;
}
if (v >= 1.0) {
return PI/2;
}
if (v <= -1.0) {
return -PI/2;
}
return asin(v);
if (isnan(v)) {
return 0.0;
}
if (v >= 1.0) {
return PI/2;
}
if (v <= -1.0) {
return -PI/2;
}
return asin(v);
}
// a varient of sqrt() that checks the input ranges and ensures a
@ -24,11 +24,11 @@ float safe_asin(float v)
// real input should have been zero
float safe_sqrt(float v)
{
float ret = sqrt(v);
if (isnan(ret)) {
return 0;
}
return ret;
float ret = sqrt(v);
if (isnan(ret)) {
return 0;
}
return ret;
}
@ -39,31 +39,31 @@ float safe_sqrt(float v)
// optional 'found' parameter is for the test suite to ensure that it is.
enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found)
{
Vector3f tv1, tv2;
enum Rotation r;
tv1(1,2,3);
tv1.rotate(r1);
tv1.rotate(r2);
Vector3f tv1, tv2;
enum Rotation r;
tv1(1,2,3);
tv1.rotate(r1);
tv1.rotate(r2);
for (r=ROTATION_NONE; r<ROTATION_MAX;
r = (enum Rotation)((uint8_t)r+1)) {
Vector3f diff;
tv2(1,2,3);
tv2.rotate(r);
diff = tv1 - tv2;
if (diff.length() < 1.0e-6) {
// we found a match
if (found) {
*found = true;
}
return r;
}
}
for (r=ROTATION_NONE; r<ROTATION_MAX;
r = (enum Rotation)((uint8_t)r+1)) {
Vector3f diff;
tv2(1,2,3);
tv2.rotate(r);
diff = tv1 - tv2;
if (diff.length() < 1.0e-6) {
// we found a match
if (found) {
*found = true;
}
return r;
}
}
// we found no matching rotation. Someone has edited the
// rotations list and broken its completeness property ...
if (found) {
*found = false;
}
return ROTATION_NONE;
// we found no matching rotation. Someone has edited the
// rotations list and broken its completeness property ...
if (found) {
*found = false;
}
return ROTATION_NONE;
}