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https://github.com/ArduPilot/ardupilot
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e0a0514c79
The problem with the current MIN/MAX macros is that they evaluate twice the arguments. For example, these cases provide unintended results: // a is incremented twice a = MIN(a++, b); // foo() with side-effects a = MIN(foo(), b); The alternative implementation here was provided by Daniel Frenzel using template function. It doesn't have type safety as std::min and std::max, but adding type safety would mean to check case by case what would be a reasonable type and add proper casts. Here the arguments for MIN and MAX can have different types and the return type is deduced from the expression in the function. Inspecting the current callers no place was found with the unintended results above, but some in which now we don't calculate twice the parameters will benefit from this new version. Examples: float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius)); float acro_level_mix = constrain_float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch() accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f)); track_leash_slack = MIN(_track_leash_length*(leash_z-track_error_z)/leash_z, _track_leash_length*(leash_xy-track_error_xy)/leash_xy); RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, MIN(MAX(ground_speed * _pump_pct_1ms, 100 *_pump_min_pct),10000),0,10000); |
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| .. | ||
| examples | ||
| AP_Math.cpp | ||
| AP_Math.h | ||
| edc.cpp | ||
| edc.h | ||
| keywords.txt | ||
| location.cpp | ||
| matrix3.cpp | ||
| matrix3.h | ||
| matrix_alg.cpp | ||
| polygon.cpp | ||
| polygon.h | ||
| quaternion.cpp | ||
| quaternion.h | ||
| rotations.h | ||
| vector2.cpp | ||
| vector2.h | ||
| vector3.cpp | ||
| vector3.h | ||
| vectorN.h | ||