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author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-08 21:56:11 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-08 21:56:11 +0400 |
commit | e8224376ca4d32e948cbee75bfecf8a30f3e98ea (patch) | |
tree | 65290003878c65247d99ad21849a6f3cbeac2e35 /src/lib/mathlib/math/test | |
parent | 28bf8e238e35a7bbba81f86e63cd0a49226673a4 (diff) | |
parent | c63995e91c188b476aa2608b42a366f68dced423 (diff) | |
download | px4-firmware-e8224376ca4d32e948cbee75bfecf8a30f3e98ea.tar.gz px4-firmware-e8224376ca4d32e948cbee75bfecf8a30f3e98ea.tar.bz2 px4-firmware-e8224376ca4d32e948cbee75bfecf8a30f3e98ea.zip |
Merge branch 'master' into vector_control
Diffstat (limited to 'src/lib/mathlib/math/test')
-rw-r--r-- | src/lib/mathlib/math/test/test.cpp | 94 | ||||
-rw-r--r-- | src/lib/mathlib/math/test/test.hpp | 50 |
2 files changed, 144 insertions, 0 deletions
diff --git a/src/lib/mathlib/math/test/test.cpp b/src/lib/mathlib/math/test/test.cpp new file mode 100644 index 000000000..2fa2f7e7c --- /dev/null +++ b/src/lib/mathlib/math/test/test.cpp @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * 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 <stdlib.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/src/lib/mathlib/math/test/test.hpp b/src/lib/mathlib/math/test/test.hpp new file mode 100644 index 000000000..2027bb827 --- /dev/null +++ b/src/lib/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); |