Perform geo.cpp's mathlib calls in double point precision

CMakeLists.txt

@@ -142,9 +142,6 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
 	add_dependencies(prebuild_targets matrix)
 	include_directories(${CMAKE_BINARY_DIR}/matrix-prefix/src/matrix)
 
-	# mathlib only needed in standalone build
-	add_subdirectory(mathlib)
-
 endif()
 
 # santiziers (ASAN)

EKF/CMakeLists.txt

@@ -55,7 +55,7 @@ add_library(ecl_EKF
 add_dependencies(ecl_EKF prebuild_targets)
 target_compile_definitions(ecl_EKF PRIVATE -DMODULE_NAME="ecl/EKF")
 target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
-target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup mathlib)
+target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup)
 
 set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
 

mathlib/CMakeLists.txt

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 ECL Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name ECL nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_library(mathlib
-	mathlib.cpp
-	)
-add_dependencies(mathlib prebuild_targets)
-
-target_include_directories(mathlib INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})

mathlib/mathlib.cpp

@@ -1,59 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mathlib.cpp
- *
- * Definition of math namespace function for POSIX SHARED
- *
- * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
- */
-#include "mathlib.h"
-
-#ifdef ECL_STANDALONE
-
-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; }
-
-}  // namespace math
-
-#endif /* ECL_STANDALONE */

mathlib/mathlib.h

@@ -51,14 +51,25 @@
 #define M_PI_2_F (M_PI / 2.0f)
 #endif
 
-namespace math {
+#ifndef M_PI
-// using namespace Eigen;
+#define M_PI 3.141592653589793238462643383280
+#endif
 
-float min(float val1, float val2);
+namespace math {
-float max(float val1, float val2);
+template <typename Type>
-float constrain(float val, float min, float max);
+Type min(Type val1, Type val2) { return (val1 < val2) ? val1 : val2; }
-float radians(float degrees);
+
-float degrees(float radians);
+template <typename Type>
+Type max(Type val1, Type val2) { return (val1 > val2) ? val1 : val2; }
+
+template <typename Type>
+Type constrain(Type val, Type min, Type max) { return (val < min) ? min : ((val > max) ? max : val); }
+
+template <typename Type>
+Type radians(Type degrees) { return (degrees / Type(180)) * Type(M_PI); }
+
+template <typename Type>
+Type degrees(Type radians) { return (radians * Type(180)) / Type(M_PI); }
 
 }  // namespace math
 #else