px4-firmware/EKF/mathlib.cpp

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/**
 * @file mathlib.cpp
 *
 * Definition of math namespace function for POSIX SHARED
 *
 * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
 */
#include "mathlib.h"

#ifdef POSIX_SHARED


namespace math
{

float min(float val1, float val2)
{
	return (val1 < val2) ? val1 : val2;
}

float max(float val1, float val2)
{
	return (val1 > val2) ? val1 : val2;
}

float constrain(float &val, float min, float max)
{
	return (val < min) ? min : ((val > max) ? max : val);
}

float radians(float degrees)
{
	return (degrees / 180.0f) * M_PI_F;
}

float degrees(float radians)
{
	return (radians * 180.0f) / M_PI_F;
}

}

#endif