Fork of the Ben Katz's motor controller firmware.
math_ops.cpp
- Committer:
- MartinGurtner
- Date:
- 2021-01-22
- Revision:
- 60:8399756e1ba1
- Parent:
- 59:8fb0145aa933
File content as of revision 60:8399756e1ba1:
#include "../math_ops.h" float fmaxf(float x, float y){ /// Returns maximum of x, y /// return (((x)>(y))?(x):(y)); } float fminf(float x, float y){ /// Returns minimum of x, y /// return (((x)<(y))?(x):(y)); } float fmaxf3(float x, float y, float z){ /// Returns maximum of x, y, z /// return (x > y ? (x > z ? x : z) : (y > z ? y : z)); } float fminf3(float x, float y, float z){ /// Returns minimum of x, y, z /// return (x < y ? (x < z ? x : z) : (y < z ? y : z)); } float roundf(float x){ /// Returns nearest integer /// return x < 0.0f ? ceilf(x - 0.5f) : floorf(x + 0.5f); } void limit_norm(float *x, float *y, float limit){ /// Scales the lenght of vector (x, y) to be <= limit /// float norm = sqrt(*x * *x + *y * *y); if(norm > limit){ *x = *x * limit/norm; *y = *y * limit/norm; } } void limit(float *x, float min, float max){ *x = fmaxf(fminf(*x, max), min); }