From bed724fe33b2dc903b89f8f8517738370c751cd1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 7 Apr 2010 23:51:28 +0200 Subject: digital/avr/modules/math/geometry: add new module --- digital/avr/modules/math/geometry/geometry.h | 51 ++++++++++++++++++++++++++++ 1 file changed, 51 insertions(+) create mode 100644 digital/avr/modules/math/geometry/geometry.h (limited to 'digital/avr/modules/math/geometry/geometry.h') diff --git a/digital/avr/modules/math/geometry/geometry.h b/digital/avr/modules/math/geometry/geometry.h new file mode 100644 index 00000000..6888daca --- /dev/null +++ b/digital/avr/modules/math/geometry/geometry.h @@ -0,0 +1,51 @@ +#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 */ -- cgit v1.2.3