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AP_Math: create a constrain_int64

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The template system doesn't work across 32/64 bit builds (SITL
vs fmuv4), probably because int is typedef'd to int64
This commit is contained in:
Peter Barker 2018-04-17 13:54:06 +10:00 committed by Andrew Tridgell
parent 01e0c03a12
commit 6af0dcfed0
3 changed files with 15 additions and 0 deletions
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1
libraries/AP_Math/AP_Math.cpp
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@ -201,6 +201,7 @@ T constrain_value(const T amt, const T low, const T high)
template int constrain_value<int>(const int amt, const int low, const int high);
template long constrain_value<long>(const long amt, const long low, const long high);
template long long constrain_value<long long>(const long long amt, const long long low, const long long 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);

5
libraries/AP_Math/AP_Math.h
View File

@ -154,6 +154,11 @@ inline int32_t constrain_int32(const int32_t amt, const int32_t low, const int32
return constrain_value(amt, low, high);
}
inline int64_t constrain_int64(const int64_t amt, const int64_t low, const int64_t high)
{
return constrain_value(amt, low, high);
}
// degrees -> radians
static inline constexpr float radians(float deg)
{

9
libraries/AP_Math/tests/test_math.cpp
View File

@ -128,14 +128,17 @@ TEST(MathTest, Constrain)
EXPECT_EQ(250, constrain_float(i, 250, 500));
EXPECT_EQ(250, constrain_int16(i, 250, 500));
EXPECT_EQ(250, constrain_int32(i, 250, 500));
EXPECT_EQ(250, constrain_int64(i, 250, 500));
} else if (i > 500) {
EXPECT_EQ(500, constrain_float(i, 250, 500));
EXPECT_EQ(500, constrain_int16(i, 250, 500));
EXPECT_EQ(500, constrain_int32(i, 250, 500));
EXPECT_EQ(500, constrain_int64(i, 250, 500));
} else {
EXPECT_EQ(i, constrain_float(i, 250, 500));
EXPECT_EQ(i, constrain_int16(i, 250, 500));
EXPECT_EQ(i, constrain_int32(i, 250, 500));
EXPECT_EQ(i, constrain_int64(i, 250, 500));
}
}
@ -145,14 +148,17 @@ TEST(MathTest, Constrain)
EXPECT_EQ(-250, constrain_float(c, -250, -50));
EXPECT_EQ(-250, constrain_int16(c, -250, -50));
EXPECT_EQ(-250, constrain_int32(c, -250, -50));
EXPECT_EQ(-250, constrain_int64(c, -250, -50));
} else if(c > -50) {
EXPECT_EQ(-50, constrain_float(c, -250, -50));
EXPECT_EQ(-50, constrain_int16(c, -250, -50));
EXPECT_EQ(-50, constrain_int32(c, -250, -50));
EXPECT_EQ(-50, constrain_int64(c, -250, -50));
} else {
EXPECT_EQ(c, constrain_float(c, -250, -50));
EXPECT_EQ(c, constrain_int16(c, -250, -50));
EXPECT_EQ(c, constrain_int32(c, -250, -50));
EXPECT_EQ(c, constrain_int64(c, -250, -50));
}
}
@ -162,14 +168,17 @@ TEST(MathTest, Constrain)
EXPECT_EQ(-250, constrain_float(c, -250, 50));
EXPECT_EQ(-250, constrain_int16(c, -250, 50));
EXPECT_EQ(-250, constrain_int32(c, -250, 50));
EXPECT_EQ(-250, constrain_int64(c, -250, 50));
} else if(c > 50) {
EXPECT_EQ(50, constrain_float(c, -250, 50));
EXPECT_EQ(50, constrain_int16(c, -250, 50));
EXPECT_EQ(50, constrain_int32(c, -250, 50));
EXPECT_EQ(50, constrain_int64(c, -250, 50));
} else {
EXPECT_EQ(c, constrain_float(c, -250, 50));
EXPECT_EQ(c, constrain_int16(c, -250, 50));
EXPECT_EQ(c, constrain_int32(c, -250, 50));
EXPECT_EQ(c, constrain_int64(c, -250, 50));
}
}