#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 */