Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Math: added a safe_asin() function

Browse Source 
this adds range checking to asin()
This commit is contained in:
Andrew Tridgell 2012-02-23 22:56:40 +11:00
parent 17170da96e
commit 502fbf6e17
2 changed files with 21 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_Math/AP_Math.cpp Normal file
View File

@ -0,0 +1,18 @@
#include "AP_Math.h"
// a varient of asin() that checks the input ranges and ensures a
// valid angle as output. If nan is given as input then zero is
// returned.
float safe_asin(float v)
{
if (isnan(v)) {
return 0;
}
if (v >= 1.0) {
return PI/2;
}
if (v <= -1.0) {
return -PI/2;
}
return asin(v);
}

3
libraries/AP_Math/AP_Math.h
View File

@ -12,3 +12,6 @@
// define AP_Param types AP_Vector3f and Ap_Matrix3f // define AP_Param types AP_Vector3f and Ap_Matrix3f
AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F); AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F); AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
// a varient of asin() that always gives a valid answer.
float safe_asin(float v);