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[wpimath] Make Rotation2d constexpr using gcem
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,97 @@ | ||
| /*################################################################################ | ||
| ## | ||
| ## Copyright (C) 2016-2020 Keith O'Hara | ||
| ## | ||
| ## This file is part of the GCE-Math C++ library. | ||
| ## | ||
| ## Licensed under the Apache License, Version 2.0 (the "License"); | ||
| ## you may not use this file except in compliance with the License. | ||
| ## You may obtain a copy of the License at | ||
| ## | ||
| ## http://www.apache.org/licenses/LICENSE-2.0 | ||
| ## | ||
| ## Unless required by applicable law or agreed to in writing, software | ||
| ## distributed under the License is distributed on an "AS IS" BASIS, | ||
| ## WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| ## See the License for the specific language governing permissions and | ||
| ## limitations under the License. | ||
| ## | ||
| ################################################################################*/ | ||
|
|
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| #pragma once | ||
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| #include "gcem/gcem_incl/gcem_options.hpp" | ||
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| namespace gcem { | ||
| #include "gcem/gcem_incl/quadrature/gauss_legendre_50.hpp" | ||
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| #include "gcem/gcem_incl/is_inf.hpp" | ||
| #include "gcem/gcem_incl/is_nan.hpp" | ||
| #include "gcem/gcem_incl/is_finite.hpp" | ||
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| #include "gcem/gcem_incl/abs.hpp" | ||
| #include "gcem/gcem_incl/ceil.hpp" | ||
| #include "gcem/gcem_incl/floor.hpp" | ||
| #include "gcem/gcem_incl/trunc.hpp" | ||
| #include "gcem/gcem_incl/is_odd.hpp" | ||
| #include "gcem/gcem_incl/is_even.hpp" | ||
| #include "gcem/gcem_incl/max.hpp" | ||
| #include "gcem/gcem_incl/min.hpp" | ||
| #include "gcem/gcem_incl/sqrt.hpp" | ||
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| #include "gcem/gcem_incl/signbit.hpp" | ||
| #include "gcem/gcem_incl/copysign.hpp" | ||
| #include "gcem/gcem_incl/neg_zero.hpp" | ||
| #include "gcem/gcem_incl/sgn.hpp" | ||
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| #include "gcem/gcem_incl/find_exponent.hpp" | ||
| #include "gcem/gcem_incl/find_fraction.hpp" | ||
| #include "gcem/gcem_incl/find_whole.hpp" | ||
| #include "gcem/gcem_incl/mantissa.hpp" | ||
| #include "gcem/gcem_incl/round.hpp" | ||
| #include "gcem/gcem_incl/fmod.hpp" | ||
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| #include "gcem/gcem_incl/pow_integral.hpp" | ||
| #include "gcem/gcem_incl/exp.hpp" | ||
| #include "gcem/gcem_incl/expm1.hpp" | ||
| #include "gcem/gcem_incl/log.hpp" | ||
| #include "gcem/gcem_incl/log1p.hpp" | ||
| #include "gcem/gcem_incl/log2.hpp" | ||
| #include "gcem/gcem_incl/pow.hpp" | ||
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| #include "gcem/gcem_incl/gcd.hpp" | ||
| #include "gcem/gcem_incl/lcm.hpp" | ||
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| #include "gcem/gcem_incl/tan.hpp" | ||
| #include "gcem/gcem_incl/cos.hpp" | ||
| #include "gcem/gcem_incl/sin.hpp" | ||
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| #include "gcem/gcem_incl/atan.hpp" | ||
| #include "gcem/gcem_incl/atan2.hpp" | ||
| #include "gcem/gcem_incl/acos.hpp" | ||
| #include "gcem/gcem_incl/asin.hpp" | ||
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| #include "gcem/gcem_incl/tanh.hpp" | ||
| #include "gcem/gcem_incl/cosh.hpp" | ||
| #include "gcem/gcem_incl/sinh.hpp" | ||
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| #include "gcem/gcem_incl/atanh.hpp" | ||
| #include "gcem/gcem_incl/acosh.hpp" | ||
| #include "gcem/gcem_incl/asinh.hpp" | ||
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| #include "gcem/gcem_incl/binomial_coef.hpp" | ||
| #include "gcem/gcem_incl/lgamma.hpp" | ||
| #include "gcem/gcem_incl/tgamma.hpp" | ||
| #include "gcem/gcem_incl/factorial.hpp" | ||
| #include "gcem/gcem_incl/lbeta.hpp" | ||
| #include "gcem/gcem_incl/beta.hpp" | ||
| #include "gcem/gcem_incl/lmgamma.hpp" | ||
| #include "gcem/gcem_incl/log_binomial_coef.hpp" | ||
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| #include "gcem/gcem_incl/erf.hpp" | ||
| #include "gcem/gcem_incl/erf_inv.hpp" | ||
| #include "gcem/gcem_incl/incomplete_beta.hpp" | ||
| #include "gcem/gcem_incl/incomplete_beta_inv.hpp" | ||
| #include "gcem/gcem_incl/incomplete_gamma.hpp" | ||
| #include "gcem/gcem_incl/incomplete_gamma_inv.hpp" | ||
| } // namespace gcem |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| /*################################################################################ | ||
| ## | ||
| ## Copyright (C) 2016-2020 Keith O'Hara | ||
| ## | ||
| ## This file is part of the GCE-Math C++ library. | ||
| ## | ||
| ## Licensed under the Apache License, Version 2.0 (the "License"); | ||
| ## you may not use this file except in compliance with the License. | ||
| ## You may obtain a copy of the License at | ||
| ## | ||
| ## http://www.apache.org/licenses/LICENSE-2.0 | ||
| ## | ||
| ## Unless required by applicable law or agreed to in writing, software | ||
| ## distributed under the License is distributed on an "AS IS" BASIS, | ||
| ## WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| ## See the License for the specific language governing permissions and | ||
| ## limitations under the License. | ||
| ## | ||
| ################################################################################*/ | ||
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| #ifndef _gcem_abs_HPP | ||
| #define _gcem_abs_HPP | ||
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| /** | ||
| * Compile-time absolute value function | ||
| * | ||
| * @param x a real-valued input. | ||
| * @return the absolute value of \c x, \f$ |x| \f$. | ||
| */ | ||
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| template<typename T> | ||
| constexpr | ||
| T | ||
| abs(const T x) | ||
| noexcept | ||
| { | ||
| return( // deal with signed-zeros | ||
| x == T(0) ? \ | ||
| T(0) : | ||
| // else | ||
| x < T(0) ? \ | ||
| - x : x ); | ||
| } | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| /*################################################################################ | ||
| ## | ||
| ## Copyright (C) 2016-2020 Keith O'Hara | ||
| ## | ||
| ## This file is part of the GCE-Math C++ library. | ||
| ## | ||
| ## Licensed under the Apache License, Version 2.0 (the "License"); | ||
| ## you may not use this file except in compliance with the License. | ||
| ## You may obtain a copy of the License at | ||
| ## | ||
| ## http://www.apache.org/licenses/LICENSE-2.0 | ||
| ## | ||
| ## Unless required by applicable law or agreed to in writing, software | ||
| ## distributed under the License is distributed on an "AS IS" BASIS, | ||
| ## WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| ## See the License for the specific language governing permissions and | ||
| ## limitations under the License. | ||
| ## | ||
| ################################################################################*/ | ||
|
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| /* | ||
| * compile-time arccosine function | ||
| */ | ||
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| #ifndef _gcem_acos_HPP | ||
| #define _gcem_acos_HPP | ||
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| namespace internal | ||
| { | ||
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| template<typename T> | ||
| constexpr | ||
| T | ||
| acos_compute(const T x) | ||
| noexcept | ||
| { | ||
| return( // only defined on [-1,1] | ||
| abs(x) > T(1) ? \ | ||
| GCLIM<T>::quiet_NaN() : | ||
| // indistinguishable from one or zero | ||
| GCLIM<T>::epsilon() > abs(x - T(1)) ? \ | ||
| T(0) : | ||
| GCLIM<T>::epsilon() > abs(x) ? \ | ||
| T(GCEM_HALF_PI) : | ||
| // else | ||
| atan( sqrt(T(1) - x*x)/x ) ); | ||
| } | ||
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| template<typename T> | ||
| constexpr | ||
| T | ||
| acos_check(const T x) | ||
| noexcept | ||
| { | ||
| return( // NaN check | ||
| is_nan(x) ? \ | ||
| GCLIM<T>::quiet_NaN() : | ||
| // | ||
| x > T(0) ? \ | ||
| // if | ||
| acos_compute(x) : | ||
| // else | ||
| T(GCEM_PI) - acos_compute(-x) ); | ||
| } | ||
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| } | ||
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| /** | ||
| * Compile-time arccosine function | ||
| * | ||
| * @param x a real-valued input, where \f$ x \in [-1,1] \f$. | ||
| * @return the inverse cosine function using \f[ \text{acos}(x) = \text{atan} \left( \frac{\sqrt{1-x^2}}{x} \right) \f] | ||
| */ | ||
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| template<typename T> | ||
| constexpr | ||
| return_t<T> | ||
| acos(const T x) | ||
| noexcept | ||
| { | ||
| return internal::acos_check( static_cast<return_t<T>>(x) ); | ||
| } | ||
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| #endif |
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