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SearchMin and BezierQuad: replace define with static constexpr (#10050)

This commit is contained in:
Dennis Mannhart 2018-07-30 18:28:27 +02:00 committed by Daniel Agar
parent 6660418c31
commit 00e09524f7
2 changed files with 7 additions and 9 deletions
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5
src/lib/bezier/BezierQuad.cpp
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@ -41,9 +41,8 @@
namespace bezier
{
#define GOLDEN_RATIO 1.61803398 //(sqrt(5)+1)/2
#define RESOLUTION 0.0001 //represents resolution; end criterion for golden section search
static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2
static constexpr double RESOLUTION = 0.0001; //End criterion for golden section search
template<typename Tp>
void BezierQuad<Tp>::setBezier(const Vector3_t &pt0, const Vector3_t &ctrl, const Vector3_t &pt1,

11
src/lib/mathlib/math/SearchMin.hpp
View File

@ -38,14 +38,13 @@
* - Golden Section Search
*/
#define GOLDEN_RATIO 1.6180339887 //(sqrt(5)+1)/2
#pragma once
#include <platforms/px4_defines.h>
namespace math
{
static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2
// Type-safe abs
template<typename _Tp>
@ -60,8 +59,8 @@ inline const _Tp goldensection(const _Tp &arg1, const _Tp &arg2, _Tp(*fun)(_Tp),
{
_Tp a = arg1;
_Tp b = arg2;
_Tp c = b - (b - a) / ((_Tp)GOLDEN_RATIO);
_Tp d = a + (b - a) / ((_Tp)GOLDEN_RATIO);
_Tp c = b - (b - a) / GOLDEN_RATIO;
_Tp d = a + (b - a) / GOLDEN_RATIO;
while (abs_t(c - d) > tol) {
@ -72,8 +71,8 @@ inline const _Tp goldensection(const _Tp &arg1, const _Tp &arg2, _Tp(*fun)(_Tp),
a = c;
}
c = b - (b - a) / ((_Tp)GOLDEN_RATIO);
d = a + (b - a) / ((_Tp)GOLDEN_RATIO);
c = b - (b - a) / GOLDEN_RATIO;
d = a + (b - a) / GOLDEN_RATIO;
}