Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
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pprz_trig_int.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
22 #ifndef PPRZ_TRIG_INT_H
23 #define PPRZ_TRIG_INT_H
24 
25 #include "std.h"
26 #include "math/pprz_algebra_int.h"
27 
31 #ifndef PPRZ_TRIG_CONST
32 #define PPRZ_TRIG_CONST
33 #endif
34 
35 
37 
38 
39 
40 #define PPRZ_ITRIG_SIN(_s, _a) { \
41  int32_t an = _a; \
42  INT32_ANGLE_NORMALIZE(an); \
43  if (an > INT32_ANGLE_PI_2) an = INT32_ANGLE_PI - an; \
44  else if (an < -INT32_ANGLE_PI_2) an = -INT32_ANGLE_PI - an; \
45  if (an >= 0) _s = pprz_trig_int[an]; \
46  else _s = -pprz_trig_int[-an]; \
47  }
48 
49 
50 #define PPRZ_ITRIG_COS(_c, _a) { \
51  PPRZ_ITRIG_SIN( _c, _a + INT32_ANGLE_PI_2); \
52  }
53 
54 
55 
56 #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:24
#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:32
Paparazzi fixed point algebra.