Limits.hpp
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/****************************************************************************
*
* Copyright (c) 2013 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 Limits.hpp
*
* Limiting / constrain helper functions
*/
#pragma once
#include <float.h>
#include <math.h>
#include <stdint.h>
#ifndef MATH_PI
#define MATH_PI 3.141592653589793238462643383280
#endif
namespace math
{
template<typename _Tp>
constexpr _Tp min(_Tp a, _Tp b)
{
return (a < b) ? a : b;
}
template<typename _Tp>
constexpr _Tp max(_Tp a, _Tp b)
{
return (a > b) ? a : b;
}
template<typename _Tp>
constexpr _Tp constrain(_Tp val, _Tp min_val, _Tp max_val)
{
return (val < min_val) ? min_val : ((val > max_val) ? max_val : val);
}
/** Constrain float values to valid values for int16_t.
* Invalid values are just clipped to be in the range for int16_t. */
constexpr int16_t constrainFloatToInt16(float value)
{
return (int16_t)math::constrain(value, (float)INT16_MIN, (float)INT16_MAX);
}
template<typename _Tp>
constexpr bool isInRange(_Tp val, _Tp min_val, _Tp max_val)
{
return (min_val <= val) && (val <= max_val);
}
template<typename T>
constexpr T radians(T degrees)
{
return degrees * (static_cast<T>(MATH_PI) / static_cast<T>(180));
}
template<typename T>
constexpr T degrees(T radians)
{
return radians * (static_cast<T>(180) / static_cast<T>(MATH_PI));
}
/** Safe way to check if float is zero */
inline bool isZero(float val)
{
return fabsf(val - 0.0f) < FLT_EPSILON;
}
/** Safe way to check if double is zero */
inline bool isZero(double val)
{
return fabs(val - 0.0) < DBL_EPSILON;
}
}