misc_math.h File Reference

#include <math.h>
#include "stdint.h"
#include "stdbool.h"

Go to the source code of this file.

Macros
#define	MAX(a, b)   ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a > _b ? _a : _b; })
#define	MIN(a, b)   ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; })
#define	sign(x)   ((x) < 0 ? -1 : 1)
	This is but one definition of sign(.) More...
#define	s_qN   13
#define	s_qP   15
#define	s_qA   12
#define	TOL_EPS   0.0001f
#define	PSEUDOINV_CONVERGE_LIMIT   75
#define	matrix_mul_check(a, b, out, arows, acolsbrows, bcols)
#define	matrix_mul_scalar_check(a, scalar, out, rows, cols)
#define	matrix_add_check(a, b, out, rows, cols)
#define	matrix_sub_check(a, b, out, rows, cols)
#define	matrix_transpose_check(a, b, out, rows, cols)
#define	cast_uint32_t   (uint32_t)
#define	powapprox   powf
#define	expapprox   expf

Functions
float	bound_sym (float val, float range)
	Bound input value within range (plus or minus) More...
float	bound_min_max (float val, float min, float max)
	Bound input value between min and max. More...
float	circular_modulus_deg (float err)
	Circular modulus. More...
float	circular_modulus_rad (float err)
float	expo3 (float x, int32_t g)
	Approximation an exponential scale curve. More...
float	expoM (float x, int32_t g, float exponent)
float	interpolate_value (const float fraction, const float beginVal, const float endVal)
float	vectorn_magnitude (const float *v, int n)
float	vector3_distances (const float *actual, const float *desired, float *out, bool normalize)
void	vector2_clip (float *vels, float limit)
void	vector2_rotate (const float *original, float *out, float angle)
float	cubic_deadband (float in, float w, float b, float m, float r)
void	cubic_deadband_setup (float w, float b, float *m, float *r)
float	linear_interpolate (float const input, float const *curve, uint8_t num_points, const float input_min, const float input_max)
void	randomize_addseed (uint32_t seed)
uint32_t	randomize_int (uint32_t interval)
void	apply_channel_deadband (float *value, float deadband)
	Apply deadband to Roll/Pitch/Yaw channels. More...
static bool	IS_NOT_FINITE (float x)
static int16_t	sin_approx (int32_t x)
	Fast approximation of sine; 3rd order taylor expansion. Based on http://www.coranac.com/2009/07/sines/. More...
static void	matrix_mul (const float *a, const float *b, float *out, int arows, int acolsbrows, int bcols)
	Multiplies out = a b. More...
static void	matrix_mul_scalar (const float *a, float scalar, float *out, int rows, int cols)
	Multiplies a matrix by a scalar Can safely be done in-place. (e.g. is slow and not vectorized/unrolled) More...
static void	matrix_add (const float *a, const float *b, float *out, int rows, int cols)
	Adds two matrices Can safely be done in-place. (e.g. is slow and not vectorized/unrolled) More...
static void	matrix_sub (const float *a, const float *b, float *out, int rows, int cols)
	Subtracts two matrices Can safely be done in-place. (e.g. is slow and not vectorized/unrolled) More...
static void	matrix_transpose (const float *a, float *out, int arows, int acols)
	Transposes a matrix. More...
static bool	matrix_pseudoinv_convergecheck (const float *a, const float *b, const float *prod, int rows, int cols)
static bool	matrix_pseudoinv_step (const float *a, float *ainv, int arows, int acols)
static float	matrix_getmaxabs (const float *a, int arows, int acols)
	Finds the largest value in a matrix. More...
static bool	matrix_pseudoinv (const float *a, float *out, int arows, int acols)
	Finds a pseudo-inverse of a matrix. More...
static float	fastlog2 (float x)
static float	fastpow2 (float p)
static float	fastpow (float x, float p)
static float	fastexp (float p)

Macro Definition Documentation

#define s_qA   12

#define s_qN   13

#define s_qP   15