ardupilot/libraries/AP_Math/AP_Math.h

97 lines
3.0 KiB
C

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#ifndef AP_MATH_H
#define AP_MATH_H
// Assorted useful math operations for ArduPilot(Mega)
#include <AP_Common.h>
#include <AP_Param.h>
#include <math.h>
#include <stdint.h>
#include "rotations.h"
#include "vector2.h"
#include "vector3.h"
#include "matrix3.h"
#include "quaternion.h"
#include "polygon.h"
#ifndef PI
#define PI 3.141592653589793
#endif
#define DEG_TO_RAD 0.017453292519943295769236907684886
#define RAD_TO_DEG 57.295779513082320876798154814105
// acceleration due to gravity in m/s/s
#define GRAVITY_MSS 9.80665
// define AP_Param types AP_Vector3f and Ap_Matrix3f
AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
// a varient of asin() that always gives a valid answer.
float safe_asin(float v);
// a varient of sqrt() that always gives a valid answer.
float safe_sqrt(float v);
// find a rotation that is the combination of two other
// rotations. This is used to allow us to add an overall board
// rotation to an existing rotation of a sensor such as the compass
enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL);
// return distance in meters between two locations
float get_distance(const struct Location *loc1, const struct Location *loc2);
// return distance in centimeters between two locations
int32_t get_distance_cm(const struct Location *loc1, const struct Location *loc2);
// return bearing in centi-degrees between two locations
int32_t get_bearing_cd(const struct Location *loc1, const struct Location *loc2);
// see if location is past a line perpendicular to
// the line between point1 and point2. If point1 is
// our previous waypoint and point2 is our target waypoint
// then this function returns true if we have flown past
// the target waypoint
bool location_passed_point(struct Location & location,
struct Location & point1,
struct Location & point2);
// extrapolate latitude/longitude given bearing and distance
void location_update(struct Location *loc, float bearing, float distance);
// extrapolate latitude/longitude given distances north and east
void location_offset(struct Location *loc, float ofs_north, float ofs_east);
// constrain a value
float constrain(float amt, float low, float high);
int16_t constrain_int16(int16_t amt, int16_t low, int16_t high);
int32_t constrain_int32(int32_t amt, int32_t low, int32_t high);
// degrees -> radians
float radians(float deg);
// radians -> degrees
float degrees(float rad);
// square
float sq(float v);
// sqrt of sum of squares
float pythagorous2(float a, float b);
float pythagorous3(float a, float b, float c);
#ifdef radians
#error "Build is including Arduino base headers"
#endif
/* The following three functions used to be arduino core macros */
#define max(a,b) ((a)>(b)?(a):(b))
#define min(a,b) ((a)<(b)?(a):(b))
#endif // AP_MATH_H