Paparazzi UAS  v4.0.4_stable-3-gf39211a
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pprz_trig_int.h
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1 /*
2  * $Id$
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4  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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23 
24 #ifndef PPRZ_TRIG_INT_H
25 #define PPRZ_TRIG_INT_H
26 
27 #include "std.h"
28 #include "math/pprz_algebra_int.h"
29 
33 #ifndef PPRZ_TRIG_CONST
34 #define PPRZ_TRIG_CONST
35 #endif
36 
37 
39 
40 
41 
42 #define PPRZ_ITRIG_SIN(_s, _a) { \
43  int32_t an = _a; \
44  INT32_ANGLE_NORMALIZE(an); \
45  if (an > INT32_ANGLE_PI_2) an = INT32_ANGLE_PI - an; \
46  else if (an < -INT32_ANGLE_PI_2) an = -INT32_ANGLE_PI - an; \
47  if (an >= 0) _s = pprz_trig_int[an]; \
48  else _s = -pprz_trig_int[-an]; \
49  }
50 
51 
52 #define PPRZ_ITRIG_COS(_c, _a) { \
53  PPRZ_ITRIG_SIN( _c, _a + INT32_ANGLE_PI_2); \
54  }
55 
56 
57 
58 #endif /* PPRZ_TRIG_INT_H */
signed short int16_t
Definition: types.h:17
PPRZ_TRIG_CONST int16_t pprz_trig_int[]
Definition: pprz_trig_int.c:26
#define PPRZ_TRIG_CONST
Allow makefile to define PPRZ_TRIG_CONST in case we want to make the trig tables const and store them...
Definition: pprz_trig_int.h:34
Paparazzi fixed point algebra.