path: root/src/platforms/ros/geo.cpp

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/**
 * @file geo.c
 *
 * Geo / math functions to perform geodesic calculations
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include <geo/geo.h>
#include <px4.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <string.h>
#include <float.h>

__EXPORT float _wrap_pi(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= M_PI_F) {
		bearing -= M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < -M_PI_F) {
		bearing += M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}

__EXPORT float _wrap_2pi(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= M_TWOPI_F) {
		bearing -= M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < 0.0f) {
		bearing += M_TWOPI_F;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}

__EXPORT float _wrap_180(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= 180.0f) {
		bearing -= 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < -180.0f) {
		bearing += 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}

__EXPORT float _wrap_360(float bearing)
{
	/* value is inf or NaN */
	if (!isfinite(bearing)) {
		return bearing;
	}

	int c = 0;

	while (bearing >= 360.0f) {
		bearing -= 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	c = 0;

	while (bearing < 0.0f) {
		bearing += 360.0f;

		if (c++ > 3) {
			return NAN;
		}
	}

	return bearing;
}