mirror of https://github.com/ArduPilot/ardupilot
263 lines
6.8 KiB
C++
263 lines
6.8 KiB
C++
#pragma once
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#include <cmath>
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#include <limits>
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#include <stdint.h>
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#include <type_traits>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include "definitions.h"
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#include "edc.h"
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#include "location.h"
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#include "matrix3.h"
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#include "polygon.h"
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#include "quaternion.h"
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#include "rotations.h"
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#include "vector2.h"
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#include "vector3.h"
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#include "spline5.h"
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// define AP_Param types AP_Vector3f and Ap_Matrix3f
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AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
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/*
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* Check whether two floats are equal
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*/
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template <typename Arithmetic1, typename Arithmetic2>
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typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type
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is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);
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template <typename Arithmetic1, typename Arithmetic2>
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typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type
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is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);
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/*
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* @brief: Check whether a float is zero
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*/
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template <typename T>
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inline bool is_zero(const T fVal1) {
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static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
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"Template parameter not of type float");
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return (fabsf(static_cast<float>(fVal1)) < FLT_EPSILON);
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}
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/*
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* @brief: Check whether a float is greater than zero
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*/
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template <typename T>
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inline bool is_positive(const T fVal1) {
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static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
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"Template parameter not of type float");
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return (static_cast<float>(fVal1) >= FLT_EPSILON);
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}
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/*
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* @brief: Check whether a float is less than zero
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*/
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template <typename T>
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inline bool is_negative(const T fVal1) {
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static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
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"Template parameter not of type float");
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return (static_cast<float>(fVal1) <= (-1.0 * FLT_EPSILON));
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}
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/*
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* A variant of asin() that checks the input ranges and ensures a valid angle
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* as output. If nan is given as input then zero is returned.
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*/
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template <typename T>
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float safe_asin(const T v);
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/*
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* A variant of sqrt() that checks the input ranges and ensures a valid value
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* as output. If a negative number is given then 0 is returned. The reasoning
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* is that a negative number for sqrt() in our code is usually caused by small
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* numerical rounding errors, so the real input should have been zero
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*/
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template <typename T>
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float safe_sqrt(const T v);
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// invOut is an inverted 4x4 matrix when returns true, otherwise matrix is Singular
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bool inverse3x3(float m[], float invOut[]);
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// invOut is an inverted 3x3 matrix when returns true, otherwise matrix is Singular
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bool inverse4x4(float m[],float invOut[]);
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// matrix multiplication of two NxN matrices
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float *mat_mul(float *A, float *B, uint8_t n);
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// matrix algebra
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bool inverse(float x[], float y[], uint16_t dim);
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/*
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* Constrain an angle to be within the range: -180 to 180 degrees. The second
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* parameter changes the units. Default: 1 == degrees, 10 == dezi,
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* 100 == centi.
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*/
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template <typename T>
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float wrap_180(const T angle, float unit_mod = 1);
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/*
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* Wrap an angle in centi-degrees. See wrap_180().
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*/
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template <typename T>
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auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f));
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/*
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* Constrain an euler angle to be within the range: 0 to 360 degrees. The
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* second parameter changes the units. Default: 1 == degrees, 10 == dezi,
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* 100 == centi.
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*/
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template <typename T>
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float wrap_360(const T angle, float unit_mod = 1);
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/*
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* Wrap an angle in centi-degrees. See wrap_360().
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*/
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template <typename T>
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auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f));
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/*
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wrap an angle in radians to -PI ~ PI (equivalent to +- 180 degrees)
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*/
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template <typename T>
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float wrap_PI(const T radian);
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/*
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* wrap an angle in radians to 0..2PI
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*/
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template <typename T>
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float wrap_2PI(const T radian);
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/*
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* Constrain a value to be within the range: low and high
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*/
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template <typename T>
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T constrain_value(const T amt, const T low, const T high);
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inline float constrain_float(const float amt, const float low, const float high)
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{
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return constrain_value(amt, low, high);
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}
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inline int16_t constrain_int16(const int16_t amt, const int16_t low, const int16_t high)
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{
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return constrain_value(amt, low, high);
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}
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inline int32_t constrain_int32(const int32_t amt, const int32_t low, const int32_t high)
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{
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return constrain_value(amt, low, high);
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}
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inline int64_t constrain_int64(const int64_t amt, const int64_t low, const int64_t high)
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{
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return constrain_value(amt, low, high);
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}
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// degrees -> radians
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static inline constexpr float radians(float deg)
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{
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return deg * DEG_TO_RAD;
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}
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// radians -> degrees
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static inline constexpr float degrees(float rad)
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{
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return rad * RAD_TO_DEG;
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}
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template<typename T>
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float sq(const T val)
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{
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return powf(static_cast<float>(val), 2);
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}
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/*
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* Variadic template for calculating the square norm of a vector of any
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* dimension.
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*/
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template<typename T, typename... Params>
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float sq(const T first, const Params... parameters)
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{
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return sq(first) + sq(parameters...);
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}
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/*
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* Variadic template for calculating the norm (pythagoras) of a vector of any
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* dimension.
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*/
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template<typename T, typename U, typename... Params>
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float norm(const T first, const U second, const Params... parameters)
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{
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return sqrtf(sq(first, second, parameters...));
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}
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template<typename A, typename B>
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static inline auto MIN(const A &one, const B &two) -> decltype(one < two ? one : two)
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{
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return one < two ? one : two;
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}
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template<typename A, typename B>
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static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one : two)
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{
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return one > two ? one : two;
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}
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inline uint32_t hz_to_nsec(uint32_t freq)
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{
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return AP_NSEC_PER_SEC / freq;
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}
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inline uint32_t nsec_to_hz(uint32_t nsec)
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{
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return AP_NSEC_PER_SEC / nsec;
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}
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inline uint32_t usec_to_nsec(uint32_t usec)
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{
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return usec * AP_NSEC_PER_USEC;
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}
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inline uint32_t nsec_to_usec(uint32_t nsec)
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{
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return nsec / AP_NSEC_PER_USEC;
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}
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inline uint32_t hz_to_usec(uint32_t freq)
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{
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return AP_USEC_PER_SEC / freq;
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}
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inline uint32_t usec_to_hz(uint32_t usec)
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{
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return AP_USEC_PER_SEC / usec;
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}
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/*
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linear interpolation based on a variable in a range
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*/
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float linear_interpolate(float low_output, float high_output,
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float var_value,
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float var_low, float var_high);
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/* simple 16 bit random number generator */
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uint16_t get_random16(void);
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// generate a random float between -1 and 1, for use in SITL
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float rand_float(void);
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// generate a random Vector3f of size 1
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Vector3f rand_vec3f(void);
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// confirm a value is a valid octal value
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bool is_valid_octal(uint16_t octal);
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// return true if two rotations are equal
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bool rotation_equal(enum Rotation r1, enum Rotation r2);
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