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author | px4dev <px4@purgatory.org> | 2013-01-06 13:56:49 -0800 |
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committer | px4dev <px4@purgatory.org> | 2013-01-06 13:56:49 -0800 |
commit | 43ccb257a8a60a24b81396dfbf7841917db3f74e (patch) | |
tree | 409374fff1ec65b5bb2adab55d52e6d8448b1274 /apps/mathlib/math/test | |
parent | 98a53e85d63a9824db38b564e1455b42adef5e30 (diff) | |
download | px4-firmware-43ccb257a8a60a24b81396dfbf7841917db3f74e.tar.gz px4-firmware-43ccb257a8a60a24b81396dfbf7841917db3f74e.tar.bz2 px4-firmware-43ccb257a8a60a24b81396dfbf7841917db3f74e.zip |
Move the math library pieces out of systemlib into mathlib
Diffstat (limited to 'apps/mathlib/math/test')
-rw-r--r-- | apps/mathlib/math/test/test.cpp | 93 | ||||
-rw-r--r-- | apps/mathlib/math/test/test.hpp | 50 |
2 files changed, 143 insertions, 0 deletions
diff --git a/apps/mathlib/math/test/test.cpp b/apps/mathlib/math/test/test.cpp new file mode 100644 index 000000000..f5db76d70 --- /dev/null +++ b/apps/mathlib/math/test/test.cpp @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 test.cpp + * + * Test library code + */ + +#include <stdio.h> +#include <math.h> + +#include "test.hpp" + +bool __EXPORT equal(float a, float b, float epsilon) +{ + float diff = fabsf(a - b); + + if (diff > epsilon) { + printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b)); + return false; + + } else return true; +} + +void __EXPORT float2SigExp( + const float &num, + float &sig, + int &exp) +{ + if (isnan(num) || isinf(num)) { + sig = 0.0f; + exp = -99; + return; + } + + if (fabsf(num) < 1.0e-38f) { + sig = 0; + exp = 0; + return; + } + + exp = log10f(fabsf(num)); + + if (exp > 0) { + exp = ceil(exp); + + } else { + exp = floor(exp); + } + + sig = num; + + // cheap power since it is integer + if (exp > 0) { + for (int i = 0; i < abs(exp); i++) sig /= 10; + + } else { + for (int i = 0; i < abs(exp); i++) sig *= 10; + } +} + + diff --git a/apps/mathlib/math/test/test.hpp b/apps/mathlib/math/test/test.hpp new file mode 100644 index 000000000..841c42144 --- /dev/null +++ b/apps/mathlib/math/test/test.hpp @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 test.hpp + * + * Controller library code + */ + +#pragma once + +#include <assert.h> +#include <time.h> +#include <stdlib.h> + +bool equal(float a, float b, float eps = 1e-5); +void float2SigExp( + const float &num, + float &sig, + int &exp); |