ardupilot/libraries/AP_Math/AP_Math.cpp

32 lines
718 B
C++

#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 0.0;
}
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
// valid value as output. If a negative number is given then 0 is
// returned. The reasoning is that a negative number for sqrt() in our
// code is usually caused by small numerical rounding errors, so the
// real input should have been zero
float safe_sqrt(float v)
{
if (isnan(v) || v <= 0.0) {
return 0.0;
}
return sqrt(v);
}