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AP_Math: use ARRAY_SIZE instead of defining another one

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This commit is contained in:
Lucas De Marchi 2015-07-17 13:38:43 -03:00 committed by Randy Mackay
parent 73ff01dc68
commit fb2eb262e7
3 changed files with 12 additions and 18 deletions
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8
libraries/AP_Math/examples/eulers/eulers.cpp
View File

@ -108,15 +108,13 @@ static void test_euler(float roll, float pitch, float yaw)
check_result("test_euler", roll, pitch, yaw, roll2, pitch2, yaw2); check_result("test_euler", roll, pitch, yaw, roll2, pitch2, yaw2);
} }
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
static const float angles[] = { 0, PI/8, PI/4, PI/2, PI, static const float angles[] = { 0, PI/8, PI/4, PI/2, PI,
-PI/8, -PI/4, -PI/2, -PI}; -PI/8, -PI/4, -PI/2, -PI};
void test_matrix_eulers(void) void test_matrix_eulers(void)
{ {
uint8_t i, j, k; uint8_t i, j, k;
uint8_t N = ARRAY_LENGTH(angles); uint8_t N = ARRAY_SIZE(angles);
hal.console->println("rotation matrix unit tests\n"); hal.console->println("rotation matrix unit tests\n");
@ -155,7 +153,7 @@ static void test_quaternion(float roll, float pitch, float yaw)
void test_quaternion_eulers(void) void test_quaternion_eulers(void)
{ {
uint8_t i, j, k; uint8_t i, j, k;
uint8_t N = ARRAY_LENGTH(angles); uint8_t N = ARRAY_SIZE(angles);
hal.console->println("quaternion unit tests\n"); hal.console->println("quaternion unit tests\n");
@ -215,7 +213,7 @@ static void test_conversion(float roll, float pitch, float yaw)
void test_conversions(void) void test_conversions(void)
{ {
uint8_t i, j, k; uint8_t i, j, k;
uint8_t N = ARRAY_LENGTH(angles); uint8_t N = ARRAY_SIZE(angles);
hal.console->println("matrix/quaternion tests\n"); hal.console->println("matrix/quaternion tests\n");

6
libraries/AP_Math/examples/location/location.cpp
View File

@ -66,8 +66,6 @@ static const struct {
Vector2f(-2, 2), true }, Vector2f(-2, 2), true },
}; };
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
static struct Location location_from_point(Vector2f pt) static struct Location location_from_point(Vector2f pt)
{ {
struct Location loc = {0}; struct Location loc = {0};
@ -79,7 +77,7 @@ static struct Location location_from_point(Vector2f pt)
static void test_passed_waypoint(void) static void test_passed_waypoint(void)
{ {
hal.console->println("waypoint tests starting"); hal.console->println("waypoint tests starting");
for (uint8_t i=0; i<ARRAY_LENGTH(test_points); i++) { for (uint8_t i=0; i<ARRAY_SIZE(test_points); i++) {
struct Location loc = location_from_point(test_points[i].location); struct Location loc = location_from_point(test_points[i].location);
struct Location wp1 = location_from_point(test_points[i].wp1); struct Location wp1 = location_from_point(test_points[i].wp1);
struct Location wp2 = location_from_point(test_points[i].wp2); struct Location wp2 = location_from_point(test_points[i].wp2);
@ -135,7 +133,7 @@ static void test_offset(void)
loc.lat = -35*1.0e7f; loc.lat = -35*1.0e7f;
loc.lng = 149*1.0e7f; loc.lng = 149*1.0e7f;
for (uint8_t i=0; i<ARRAY_LENGTH(test_offsets); i++) { for (uint8_t i=0; i<ARRAY_SIZE(test_offsets); i++) {
test_one_offset(loc, test_one_offset(loc,
test_offsets[i].ofs_north, test_offsets[i].ofs_north,
test_offsets[i].ofs_east, test_offsets[i].ofs_east,

16
libraries/AP_Math/examples/polygon/polygon.cpp
View File

@ -61,8 +61,6 @@ static const struct {
{ Vector2l(-266092111, 1518747419), false }, { Vector2l(-266092111, 1518747419), false },
}; };
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
/* /*
* polygon tests * polygon tests
*/ */
@ -74,20 +72,20 @@ void setup(void)
hal.console->println("polygon unit tests\n"); hal.console->println("polygon unit tests\n");
if (!Polygon_complete(OBC_boundary, ARRAY_LENGTH(OBC_boundary))) { if (!Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary))) {
hal.console->println("OBC boundary is not complete!"); hal.console->println("OBC boundary is not complete!");
all_passed = false; all_passed = false;
} }
if (Polygon_complete(OBC_boundary, ARRAY_LENGTH(OBC_boundary)-1)) { if (Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary)-1)) {
hal.console->println("Polygon_complete test failed"); hal.console->println("Polygon_complete test failed");
all_passed = false; all_passed = false;
} }
for (i=0; i<ARRAY_LENGTH(test_points); i++) { for (i=0; i<ARRAY_SIZE(test_points); i++) {
bool result; bool result;
result = Polygon_outside(test_points[i].point, result = Polygon_outside(test_points[i].point,
OBC_boundary, ARRAY_LENGTH(OBC_boundary)); OBC_boundary, ARRAY_SIZE(OBC_boundary));
hal.console->printf_P(PSTR("%10f,%10f %s %s\n"), hal.console->printf_P(PSTR("%10f,%10f %s %s\n"),
1.0e-7f*test_points[i].point.x, 1.0e-7f*test_points[i].point.x,
1.0e-7f*test_points[i].point.y, 1.0e-7f*test_points[i].point.y,
@ -102,17 +100,17 @@ void setup(void)
hal.console->println("Speed test:"); hal.console->println("Speed test:");
start_time = hal.scheduler->micros(); start_time = hal.scheduler->micros();
for (count=0; count<1000; count++) { for (count=0; count<1000; count++) {
for (i=0; i<ARRAY_LENGTH(test_points); i++) { for (i=0; i<ARRAY_SIZE(test_points); i++) {
bool result; bool result;
result = Polygon_outside(test_points[i].point, result = Polygon_outside(test_points[i].point,
OBC_boundary, ARRAY_LENGTH(OBC_boundary)); OBC_boundary, ARRAY_SIZE(OBC_boundary));
if (result != test_points[i].outside) { if (result != test_points[i].outside) {
all_passed = false; all_passed = false;
} }
} }
} }
hal.console->printf("%u usec/call\n", (unsigned)((hal.scheduler->micros() hal.console->printf("%u usec/call\n", (unsigned)((hal.scheduler->micros()
- start_time)/(count*ARRAY_LENGTH(test_points)))); - start_time)/(count*ARRAY_SIZE(test_points))));
hal.console->println(all_passed ? "ALL TESTS PASSED" : "TEST FAILED"); hal.console->println(all_passed ? "ALL TESTS PASSED" : "TEST FAILED");
} }