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AP_Math: compiler warnings: float to double promotion

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cast as float because we're in magical template land where T minus T means promote to double
This commit is contained in:
Tom Pittenger 2015-05-02 21:44:26 -07:00 committed by Andrew Tridgell
parent 1c3ad00aa7
commit 820f0bf02a
2 changed files with 27 additions and 26 deletions
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1
libraries/AP_Math/AP_Math.h
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@ -20,6 +20,7 @@
#include "polygon.h" #include "polygon.h"
#include "edc.h" #include "edc.h"
#include "float.h" #include "float.h"
#include "AP_Param.h"
#ifndef M_PI_F #ifndef M_PI_F
#define M_PI_F 3.141592653589793f #define M_PI_F 3.141592653589793f

52
libraries/AP_Math/vector3.cpp
View File

@ -19,7 +19,7 @@
#include "AP_Math.h" #include "AP_Math.h"
#define HALF_SQRT_2 0.70710678118654757 #define HALF_SQRT_2 0.70710678118654757f
// rotate a vector by a standard rotation, attempting // rotate a vector by a standard rotation, attempting
// to use the minimum number of floating point operations // to use the minimum number of floating point operations
@ -32,8 +32,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
case ROTATION_MAX: case ROTATION_MAX:
return; return;
case ROTATION_YAW_45: { case ROTATION_YAW_45: {
tmp = HALF_SQRT_2*(x - y); tmp = HALF_SQRT_2*(float)(x - y);
y = HALF_SQRT_2*(x + y); y = HALF_SQRT_2*(float)(x + y);
x = tmp; x = tmp;
return; return;
} }
@ -42,8 +42,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
return; return;
} }
case ROTATION_YAW_135: { case ROTATION_YAW_135: {
tmp = -HALF_SQRT_2*(x + y); tmp = -HALF_SQRT_2*(float)(x + y);
y = HALF_SQRT_2*(x - y); y = HALF_SQRT_2*(float)(x - y);
x = tmp; x = tmp;
return; return;
} }
@ -51,8 +51,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
x = -x; y = -y; x = -x; y = -y;
return; return;
case ROTATION_YAW_225: { case ROTATION_YAW_225: {
tmp = HALF_SQRT_2*(y - x); tmp = HALF_SQRT_2*(float)(y - x);
y = -HALF_SQRT_2*(x + y); y = -HALF_SQRT_2*(float)(x + y);
x = tmp; x = tmp;
return; return;
} }
@ -61,8 +61,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
return; return;
} }
case ROTATION_YAW_315: { case ROTATION_YAW_315: {
tmp = HALF_SQRT_2*(x + y); tmp = HALF_SQRT_2*(float)(x + y);
y = HALF_SQRT_2*(y - x); y = HALF_SQRT_2*(float)(y - x);
x = tmp; x = tmp;
return; return;
} }
@ -71,8 +71,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
return; return;
} }
case ROTATION_ROLL_180_YAW_45: { case ROTATION_ROLL_180_YAW_45: {
tmp = HALF_SQRT_2*(x + y); tmp = HALF_SQRT_2*(float)(x + y);
y = HALF_SQRT_2*(x - y); y = HALF_SQRT_2*(float)(x - y);
x = tmp; z = -z; x = tmp; z = -z;
return; return;
} }
@ -81,8 +81,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
return; return;
} }
case ROTATION_ROLL_180_YAW_135: { case ROTATION_ROLL_180_YAW_135: {
tmp = HALF_SQRT_2*(y - x); tmp = HALF_SQRT_2*(float)(y - x);
y = HALF_SQRT_2*(y + x); y = HALF_SQRT_2*(float)(y + x);
x = tmp; z = -z; x = tmp; z = -z;
return; return;
} }
@ -91,8 +91,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
return; return;
} }
case ROTATION_ROLL_180_YAW_225: { case ROTATION_ROLL_180_YAW_225: {
tmp = -HALF_SQRT_2*(x + y); tmp = -HALF_SQRT_2*(float)(x + y);
y = HALF_SQRT_2*(y - x); y = HALF_SQRT_2*(float)(y - x);
x = tmp; z = -z; x = tmp; z = -z;
return; return;
} }
@ -101,8 +101,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
return; return;
} }
case ROTATION_ROLL_180_YAW_315: { case ROTATION_ROLL_180_YAW_315: {
tmp = HALF_SQRT_2*(x - y); tmp = HALF_SQRT_2*(float)(x - y);
y = -HALF_SQRT_2*(x + y); y = -HALF_SQRT_2*(float)(x + y);
x = tmp; z = -z; x = tmp; z = -z;
return; return;
} }
@ -112,8 +112,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
} }
case ROTATION_ROLL_90_YAW_45: { case ROTATION_ROLL_90_YAW_45: {
tmp = z; z = y; y = -tmp; tmp = z; z = y; y = -tmp;
tmp = HALF_SQRT_2*(x - y); tmp = HALF_SQRT_2*(float)(x - y);
y = HALF_SQRT_2*(x + y); y = HALF_SQRT_2*(float)(x + y);
x = tmp; x = tmp;
return; return;
} }
@ -124,8 +124,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
} }
case ROTATION_ROLL_90_YAW_135: { case ROTATION_ROLL_90_YAW_135: {
tmp = z; z = y; y = -tmp; tmp = z; z = y; y = -tmp;
tmp = -HALF_SQRT_2*(x + y); tmp = -HALF_SQRT_2*(float)(x + y);
y = HALF_SQRT_2*(x - y); y = HALF_SQRT_2*(float)(x - y);
x = tmp; x = tmp;
return; return;
} }
@ -135,8 +135,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
} }
case ROTATION_ROLL_270_YAW_45: { case ROTATION_ROLL_270_YAW_45: {
tmp = z; z = -y; y = tmp; tmp = z; z = -y; y = tmp;
tmp = HALF_SQRT_2*(x - y); tmp = HALF_SQRT_2*(float)(x - y);
y = HALF_SQRT_2*(x + y); y = HALF_SQRT_2*(float)(x + y);
x = tmp; x = tmp;
return; return;
} }
@ -147,8 +147,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
} }
case ROTATION_ROLL_270_YAW_135: { case ROTATION_ROLL_270_YAW_135: {
tmp = z; z = -y; y = tmp; tmp = z; z = -y; y = tmp;
tmp = -HALF_SQRT_2*(x + y); tmp = -HALF_SQRT_2*(float)(x + y);
y = HALF_SQRT_2*(x - y); y = HALF_SQRT_2*(float)(x - y);
x = tmp; x = tmp;
return; return;
} }
@ -339,7 +339,7 @@ bool Vector3<T>::operator !=(const Vector3<T> &v) const
template <typename T> template <typename T>
float Vector3<T>::angle(const Vector3<T> &v2) const float Vector3<T>::angle(const Vector3<T> &v2) const
{ {
return acosf(((*this)*v2) / (this->length()*v2.length())); return acosf((*this)*v2) / (float)((this->length()*v2.length()));
} }
// multiplication of transpose by a vector // multiplication of transpose by a vector