From 468dfe3faaf84c8336c29fe1bb089e041a2cf980 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 4 Jul 2012 14:14:58 +1000
Subject: [PATCH] AP_Math: the windows arduino build is missing acosf()

---
 libraries/AP_Math/AP_Math.h | 2 +-
 libraries/AP_Math/vector2.h | 6 +++---
 libraries/AP_Math/vector3.h | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 7fb07c604d..a59bde2039 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -6,6 +6,7 @@
 // Assorted useful math operations for ArduPilot(Mega)
 
 #include <AP_Common.h>
+#include <math.h>
 #include <stdint.h>
 #include "rotations.h"
 #include "vector2.h"
@@ -13,7 +14,6 @@
 #include "matrix3.h"
 #include "quaternion.h"
 #include "polygon.h"
-#include <math.h>
 
 // define AP_Param types AP_Vector3f and Ap_Matrix3f
 AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
diff --git a/libraries/AP_Math/vector2.h b/libraries/AP_Math/vector2.h
index eebb9d8d4d..e35e1f92ae 100644
--- a/libraries/AP_Math/vector2.h
+++ b/libraries/AP_Math/vector2.h
@@ -140,15 +140,15 @@ struct Vector2
 
 	// computes the angle between 2 arbitrary vectors
 	T angle(const Vector2<T> &v1, const Vector2<T> &v2)
-	{   return (T)acosf((v1*v2) / (v1.length()*v2.length()));  }
+	{   return (T)acos((v1*v2) / (v1.length()*v2.length()));  }
 
 	// computes the angle between this vector and another vector
 	T angle(const Vector2<T> &v2)
-		{   return (T)acosf(((*this)*v2) / (this->length()*v2.length()));  }
+		{   return (T)acos(((*this)*v2) / (this->length()*v2.length()));  }
 
 	// computes the angle between 2 normalized arbitrary vectors
 	T angle_normalized(const Vector2<T> &v1, const Vector2<T> &v2)
-	{   return (T)acosf(v1*v2);  }
+	{   return (T)acos(v1*v2);  }
 
 };
 
diff --git a/libraries/AP_Math/vector3.h b/libraries/AP_Math/vector3.h
index 5759d11787..8ad3becb41 100644
--- a/libraries/AP_Math/vector3.h
+++ b/libraries/AP_Math/vector3.h
@@ -165,15 +165,15 @@ public:
 
 	// computes the angle between 2 arbitrary vectors
 	T angle(const Vector3<T> &v1, const Vector3<T> &v2)
-	{   return (T)acosf((v1*v2) / (v1.length()*v2.length()));  }
+	{   return (T)acos((v1*v2) / (v1.length()*v2.length()));  }
 
 	// computes the angle between this vector and another vector
 	T angle(const Vector3<T> &v2)
-		{   return (T)acosf(((*this)*v2) / (this->length()*v2.length()));  }
+		{   return (T)acos(((*this)*v2) / (this->length()*v2.length()));  }
 
 	// computes the angle between 2 arbitrary normalized vectors
 	T angle_normalized(const Vector3<T> &v1, const Vector3<T> &v2)
-	{   return (T)acosf(v1*v2);  }
+	{   return (T)acos(v1*v2);  }
 
 	// check if any elements are NAN
 	bool is_nan(void)