forked from Archive/PX4-Autopilot
Perform geo.cpp's mathlib calls in double point precision
This commit is contained in:
Kamil Ritz
Lorenz Meier
parent
a013bb9314
commit
1fa6870cd6
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@ -142,9 +142,6 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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add_dependencies(prebuild_targets matrix)
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include_directories(${CMAKE_BINARY_DIR}/matrix-prefix/src/matrix)
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# mathlib only needed in standalone build
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add_subdirectory(mathlib)
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endif()
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# santiziers (ASAN)
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@ -55,7 +55,7 @@ add_library(ecl_EKF
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add_dependencies(ecl_EKF prebuild_targets)
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target_compile_definitions(ecl_EKF PRIVATE -DMODULE_NAME="ecl/EKF")
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target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
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target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup mathlib)
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target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup)
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set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
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@ -1,39 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2018 ECL Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name ECL nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_library(mathlib
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mathlib.cpp
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)
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add_dependencies(mathlib prebuild_targets)
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target_include_directories(mathlib INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
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@ -1,59 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mathlib.cpp
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*
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* Definition of math namespace function for POSIX SHARED
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*
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* @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
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*/
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#include "mathlib.h"
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#ifdef ECL_STANDALONE
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namespace math {
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float min(float val1, float val2) { return (val1 < val2) ? val1 : val2; }
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float max(float val1, float val2) { return (val1 > val2) ? val1 : val2; }
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float constrain(float val, float min, float max) { return (val < min) ? min : ((val > max) ? max : val); }
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float radians(float degrees) { return (degrees / 180.0f) * M_PI_F; }
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float degrees(float radians) { return (radians * 180.0f) / M_PI_F; }
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} // namespace math
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#endif /* ECL_STANDALONE */
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@ -51,14 +51,25 @@
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#define M_PI_2_F (M_PI / 2.0f)
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#endif
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namespace math {
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// using namespace Eigen;
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#ifndef M_PI
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#define M_PI 3.141592653589793238462643383280
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#endif
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float min(float val1, float val2);
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float max(float val1, float val2);
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float constrain(float val, float min, float max);
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float radians(float degrees);
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float degrees(float radians);
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namespace math {
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template <typename Type>
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Type min(Type val1, Type val2) { return (val1 < val2) ? val1 : val2; }
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template <typename Type>
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Type max(Type val1, Type val2) { return (val1 > val2) ? val1 : val2; }
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template <typename Type>
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Type constrain(Type val, Type min, Type max) { return (val < min) ? min : ((val > max) ? max : val); }
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template <typename Type>
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Type radians(Type degrees) { return (degrees / Type(180)) * Type(M_PI); }
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template <typename Type>
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Type degrees(Type radians) { return (radians * Type(180)) / Type(M_PI); }
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} // namespace math
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#else
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