QGCMath.cc

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// MSVC's <cmath> hides M_PI unless _USE_MATH_DEFINES is set before any C runtime header.
#define _USE_MATH_DEFINES
 
#include "QGCMath.h"
 
#include <QtCore/QtNumeric>
 
#include <cmath>
#include <float.h>
 
#include "CRC32.h"
 
namespace QGC {
 
float limitAngleToPMPIf(double angle)
{
    if ((angle > (-20*M_PI)) && (angle < (20*M_PI)))
    {
        while (angle > ((float)M_PI+FLT_EPSILON))
        {
            angle -= 2.0f * (float)M_PI;
        }
 
        while (angle <= -((float)M_PI+FLT_EPSILON))
        {
            angle += 2.0f * (float)M_PI;
        }
    }
    else
    {
        // Approximate
        angle = fmodf(angle, (float)M_PI);
    }
 
    return angle;
}
 
double limitAngleToPMPId(double angle)
{
    if ((angle > (-20*M_PI)) && (angle < (20*M_PI)))
    {
        if (angle < -M_PI)
        {
            while (angle < -M_PI)
            {
                angle += 2.0f * M_PI;
            }
        }
        else if (angle > M_PI)
        {
            while (angle > M_PI)
            {
                angle -= 2.0f * M_PI;
            }
        }
    }
    else
    {
        // Approximate
        angle = fmod(angle, M_PI);
    }
 
    return angle;
}
 
quint32 crc32(const quint8 *src, unsigned len, unsigned state)
{
    return crc32Update({src, len}, state);
}
 
bool fuzzyCompare(double value1, double value2)
{
    if (qIsNaN(value1) && qIsNaN(value2)) {
        return true;
    } else if (qIsNaN(value1) || qIsNaN(value2)) {
        return false;
    } else if (value1 == value2) {
        return true;
    } else {
        return qFuzzyCompare(value1, value2);
    }
}
 
bool fuzzyCompare(double value1, double value2, double tolerance)
{
    if (qIsNaN(value1) && qIsNaN(value2)) {
        return true;
    } else if (qIsNaN(value1) || qIsNaN(value2)) {
        return false;
    } else {
        return fabs(value1 - value2) <= tolerance;
    }
}
 
bool fuzzyCompare(float value1, float value2)
{
    if (qIsNaN(value1) && qIsNaN(value2)) {
        return true;
    } else if (qIsNaN(value1) || qIsNaN(value2)) {
        return false;
    } else if (value1 == value2) {
        return true;
    } else {
        return qFuzzyCompare(value1, value2);
    }
}
 
bool fuzzyCompare(float value1, float value2, float tolerance)
{
    if (qIsNaN(value1) && qIsNaN(value2)) {
        return true;
    } else if (qIsNaN(value1) || qIsNaN(value2)) {
        return false;
    } else {
        return fabsf(value1 - value2) <= tolerance;
    }
}
 
}