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/****************************************************************************
*
* Copyright (c) 2012-2014 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 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;
}
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