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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.cpp
*
* Limiting / constrain helper functions
*/
#include <math.h>
#include <stdint.h>
#include "Limits.hpp"
namespace math {
float __EXPORT min(float val1, float val2)
{
return (val1 < val2) ? val1 : val2;
}
int __EXPORT min(int val1, int val2)
{
return (val1 < val2) ? val1 : val2;
}
unsigned __EXPORT min(unsigned val1, unsigned val2)
{
return (val1 < val2) ? val1 : val2;
}
uint64_t __EXPORT min(uint64_t val1, uint64_t val2)
{
return (val1 < val2) ? val1 : val2;
}
double __EXPORT min(double val1, double val2)
{
return (val1 < val2) ? val1 : val2;
}
float __EXPORT max(float val1, float val2)
{
return (val1 > val2) ? val1 : val2;
}
int __EXPORT max(int val1, int val2)
{
return (val1 > val2) ? val1 : val2;
}
unsigned __EXPORT max(unsigned val1, unsigned val2)
{
return (val1 > val2) ? val1 : val2;
}
uint64_t __EXPORT max(uint64_t val1, uint64_t val2)
{
return (val1 > val2) ? val1 : val2;
}
double __EXPORT max(double val1, double val2)
{
return (val1 > val2) ? val1 : val2;
}
float __EXPORT constrain(float val, float min, float max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
int __EXPORT constrain(int val, int min, int max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
unsigned __EXPORT constrain(unsigned val, unsigned min, unsigned max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
uint64_t __EXPORT constrain(uint64_t val, uint64_t min, uint64_t max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
double __EXPORT constrain(double val, double min, double max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
float __EXPORT radians(float degrees)
{
return (degrees / 180.0f) * M_PI_F;
}
double __EXPORT radians(double degrees)
{
return (degrees / 180.0) * M_PI;
}
float __EXPORT degrees(float radians)
{
return (radians / M_PI_F) * 180.0f;
}
double __EXPORT degrees(double radians)
{
return (radians / M_PI) * 180.0;
}
}
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