Shao Rui / SPIne_referenceTraj_DEMO

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Show/hide line numbers FastMath.cpp Source File

FastMath.cpp

00001 #include "FastMath.h"
00002 #include "LUT.h"
00003 
00004 const float Multiplier = 81.4873308631f;
00005 
00006 float FastMath::FastSin(float theta){
00007     while (theta < 0.0f) theta += 6.28318530718f;
00008     while (theta >= 6.28318530718f) theta -= 6.28318530718f;    
00009     return SinTable[(int) (Multiplier*theta)] ;
00010     }
00011     
00012 float FastMath::FastCos(float theta){
00013     return FastSin(1.57079632679f - theta);
00014     }
00015    //========HJB added=====// 
00016 int   FastMath::Sgn(float d){
00017     if(d<0) return -1;
00018     else if (d==0) return 0;
00019     else return 1;
00020     }
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