1 files changed, 146 insertions, 0 deletions
diff --git a/src/modules/mathlib/math/Limits.cpp b/src/modules/mathlib/math/Limits.cpp
new file mode 100644
index 000000000..d4c892d8a
--- /dev/null
+++ b/src/modules/mathlib/math/Limits.cpp
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   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;
+}
+
+}
+\ No newline at end of file