#ifndef geometry_h #define geometry_h /* geometry.h */ /* avr.math.geometry - Geometry math module. {{{ * * Copyright (C) 2010 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "modules/math/math.h" /** Compute an angle from radians. This is supposed to be used with * constants. */ #define G_ANGLE_UF016_RAD(a) \ ((uint16_t) /* Final type is uint16_t, we want to drop MSB. */ \ (int32_t) /* Do no want funny compiler trick when converting from \ double to integer (overflow detection). */ \ ((a) >= 0 /* Need rounding. */ \ ? ((a) * 0x8000l + M_PI / 2) / M_PI \ : ((a) * 0x8000l - M_PI / 2) / M_PI \ )) /** Compute an angle from degrees. This is supposed to be used with * constants. */ #define G_ANGLE_UF016_DEG(a) \ ((uint16_t) /* Final type is uint16_t, we want to drop MSB. */ \ (int32_t) /* Do no want funny compiler trick when converting from \ double to integer (overflow detection). */ \ ((a) >= 0 /* Need rounding. */ \ ? ((a) * 0x10000l + 180) / 360 \ : ((a) * 0x10000l - 180) / 360 \ )) #endif /* geometry_h */