px4-firmware/EKF/mathlib.h

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/**
 * @file mathlib.h
 *
 * Target specific math functions and definitions
 *
 * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
 */
#ifndef MATHLIB_H
#define MATHLIB_H
#ifdef POSIX_SHARED
// #include <Eigen/Dense>
// #include <algorithm>
#define M_PI_F 3.14159265358979323846f

#ifndef M_PI
#define M_PI (3.14159265358979323846f)
#endif

namespace math
{
// using namespace Eigen;
using namespace std;

float min(float val1, float val2);
float max(float val1, float val2);
float constrain(float val, float min, float max);
float radians(float degrees);
float degrees(float radians);

}
#else
#include <mathlib/mathlib.h>
#endif //POSIX_SHARED
#endif //MATHLIB_H