ardupilot/libraries/AP_Math/AP_Math.cpp

177 lines
5.4 KiB
C++

#include "AP_Math.h"
#include <float.h>
template <class FloatOne, class FloatTwo>
bool is_equal(const FloatOne v_1, const FloatTwo v_2)
{
static_assert(std::is_arithmetic<FloatOne>::value, "template parameter not of type float or int");
static_assert(std::is_arithmetic<FloatTwo>::value, "template parameter not of type float or int");
return fabsf(v_1 - v_2) < std::numeric_limits<decltype(v_1 - v_2)>::epsilon();
}
template bool is_equal<int>(const int v_1, const int v_2);
template bool is_equal<short>(const short v_1, const short v_2);
template bool is_equal<float>(const float v_1, const float v_2);
template bool is_equal<double>(const double v_1, const double v_2);
template <class T>
float safe_asin(const T v)
{
if (isnan(static_cast<float>(v))) {
return 0.0f;
}
if (v >= 1.0f) {
return static_cast<float>(M_PI_2);
}
if (v <= -1.0f) {
return static_cast<float>(-M_PI_2);
}
return asinf(static_cast<float>(v));
}
template float safe_asin<int>(const int v);
template float safe_asin<short>(const short v);
template float safe_asin<float>(const float v);
template float safe_asin<double>(const double v);
template <class T>
float safe_sqrt(const T v)
{
float ret = sqrtf(static_cast<float>(v));
if (isnan(ret)) {
return 0;
}
return ret;
}
template float safe_sqrt<int>(const int v);
template float safe_sqrt<short>(const short v);
template float safe_sqrt<float>(const float v);
template float safe_sqrt<double>(const double v);
/*
linear interpolation based on a variable in a range
*/
float linear_interpolate(float low_output, float high_output,
float var_value,
float var_low, float var_high)
{
if (var_value <= var_low) {
return low_output;
}
if (var_value >= var_high) {
return high_output;
}
float p = (var_value - var_low) / (var_high - var_low);
return low_output + p * (high_output - low_output);
}
template <class T>
float wrap_180(const T angle, float unit_mod)
{
auto res = wrap_360(angle, unit_mod);
if (res > 180.f * unit_mod) {
res -= 360.f * unit_mod;
}
return res;
}
template float wrap_180<int>(const int angle, float unit_mod);
template float wrap_180<short>(const short angle, float unit_mod);
template float wrap_180<float>(const float angle, float unit_mod);
template float wrap_180<double>(const double angle, float unit_mod);
template <class T>
auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f))
{
return wrap_180(angle, 100.f);
}
template auto wrap_180_cd<float>(const float angle) -> decltype(wrap_180(angle, 100.f));
template auto wrap_180_cd<int>(const int angle) -> decltype(wrap_180(angle, 100.f));
template auto wrap_180_cd<short>(const short angle) -> decltype(wrap_180(angle, 100.f));
template auto wrap_180_cd<double>(const double angle) -> decltype(wrap_360(angle, 100.f));
template <class T>
float wrap_360(const T angle, float unit_mod)
{
const float ang_360 = 360.f * unit_mod;
float res = fmodf(static_cast<float>(angle), ang_360);
if (res < 0) {
res += ang_360;
}
return res;
}
template float wrap_360<int>(const int angle, float unit_mod);
template float wrap_360<short>(const short angle, float unit_mod);
template float wrap_360<float>(const float angle, float unit_mod);
template float wrap_360<double>(const double angle, float unit_mod);
template <class T>
auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f))
{
return wrap_360(angle, 100.f);
}
template auto wrap_360_cd<float>(const float angle) -> decltype(wrap_360(angle, 100.f));
template auto wrap_360_cd<int>(const int angle) -> decltype(wrap_360(angle, 100.f));
template auto wrap_360_cd<short>(const short angle) -> decltype(wrap_360(angle, 100.f));
template auto wrap_360_cd<double>(const double angle) -> decltype(wrap_360(angle, 100.f));
template <class T>
float wrap_PI(const T radian)
{
auto res = wrap_2PI(radian);
if (res > M_PI) {
res -= M_2PI;
}
return res;
}
template float wrap_PI<int>(const int radian);
template float wrap_PI<short>(const short radian);
template float wrap_PI<float>(const float radian);
template float wrap_PI<double>(const double radian);
template <class T>
float wrap_2PI(const T radian)
{
float res = fmodf(static_cast<float>(radian), M_2PI);
if (res < 0) {
res += M_2PI;
}
return res;
}
template float wrap_2PI<int>(const int radian);
template float wrap_2PI<short>(const short radian);
template float wrap_2PI<float>(const float radian);
template float wrap_2PI<double>(const double radian);
template <class T>
T constrain_value(const T amt, const T low, const T high)
{
// the check for NaN as a float prevents propagation of floating point
// errors through any function that uses constrain_float(). The normal
// float semantics already handle -Inf and +Inf
if (isnan(amt)) {
return (low + high) * 0.5f;
}
if (amt < low) {
return low;
}
if (amt > high) {
return high;
}
return amt;
}
template int constrain_value<int>(const int amt, const int low, const int high);
template short constrain_value<short>(const short amt, const short low, const short high);
template float constrain_value<float>(const float amt, const float low, const float high);
template double constrain_value<double>(const double amt, const double low, const double high);