xsmath.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef XSMATH_H
#define XSMATH_H

#include "pstdint.h"
#include "xstypedefs.h"
#include "xstypesconfig.h"

#ifdef __cplusplus
extern "C"
{
#endif

    XSTYPES_DLL_API extern const XsReal XsMath_e;
    XSTYPES_DLL_API extern const XsReal XsMath_pi;
    XSTYPES_DLL_API extern const XsReal XsMath_tinyValue;
    XSTYPES_DLL_API extern const XsReal XsMath_hugeValue;
    XSTYPES_DLL_API extern const XsReal XsMath_epsilon;
    XSTYPES_DLL_API extern const XsReal XsMath_sqrtEpsilon;
    XSTYPES_DLL_API extern const XsReal XsMath_denormalized;
    XSTYPES_DLL_API extern const XsReal XsMath_sqrtDenormalized;
    XSTYPES_DLL_API extern const XsReal XsMath_rad2degValue;
    XSTYPES_DLL_API extern const XsReal XsMath_deg2radValue;
    XSTYPES_DLL_API extern const XsReal XsMath_zero;
    XSTYPES_DLL_API extern const XsReal XsMath_pt25;
    XSTYPES_DLL_API extern const XsReal XsMath_pt5;
    XSTYPES_DLL_API extern const XsReal XsMath_minusPt5;
    XSTYPES_DLL_API extern const XsReal XsMath_one;
    XSTYPES_DLL_API extern const XsReal XsMath_minusOne;
    XSTYPES_DLL_API extern const XsReal XsMath_two;
    XSTYPES_DLL_API extern const XsReal XsMath_four;
    XSTYPES_DLL_API extern const XsReal XsMath_minusTwo;
    XSTYPES_DLL_API extern const XsReal XsMath_minusHalfPi;
    XSTYPES_DLL_API extern const XsReal XsMath_halfPi;
    XSTYPES_DLL_API extern const XsReal XsMath_sqrt2;
    XSTYPES_DLL_API extern const XsReal XsMath_infinity;

    XSTYPES_DLL_API XsReal XsMath_rad2deg(XsReal radians);
    XSTYPES_DLL_API XsReal XsMath_deg2rad(XsReal degrees);
    XSTYPES_DLL_API XsReal XsMath_pow2(XsReal a);
    XSTYPES_DLL_API XsReal XsMath_pow3(XsReal a);
    XSTYPES_DLL_API XsReal XsMath_asinClamped(XsReal x);
    XSTYPES_DLL_API int XsMath_isFinite(XsReal x);
    XSTYPES_DLL_API int32_t XsMath_doubleToLong(double d);
#ifndef XSENS_NO_INT64
    XSTYPES_DLL_API int64_t XsMath_doubleToInt64(double d);
#endif

#ifdef __cplusplus
}  // extern "C"

namespace XsMath
{
//! \brief The value e
static const XsReal& e = XsMath_e;
//! \brief The value pi
static const XsReal& pi = XsMath_pi;
//! \brief A really small value
static const XsReal& tinyValue = XsMath_tinyValue;
//! \brief A convincingly large number
static const XsReal& hugeValue = XsMath_hugeValue;
//! \brief A value related to the precision of floating point arithmetic
//! (2.2204460492503131e-016)
static const XsReal& epsilon = XsMath_epsilon;
/*! \brief Square root of epsilon
    \sa epsilon
*/
static const XsReal& sqrtEpsilon = XsMath_sqrtEpsilon;
//! \brief Value that represents the subnormal number in floating point wizardry
static const XsReal& denormalized = XsMath_denormalized;
/*! \brief Square root of denormalized
    \sa denormalized
*/
static const XsReal& sqrtDenormalized = XsMath_sqrtDenormalized;
//! \brief Value to convert radians to degrees by multiplication
static const XsReal& rad2degValue = XsMath_rad2degValue;
//! \brief Value to convert degrees to radians by multiplication
static const XsReal& deg2radValue = XsMath_deg2radValue;
//! \brief 0
static const XsReal& zero = XsMath_zero;
//! \brief 0.25
static const XsReal& pt25 = XsMath_pt25;
//! \brief 0.5
static const XsReal& pt5 = XsMath_pt5;
//! \brief -0.5
static const XsReal& minusPt5 = XsMath_minusPt5;
//! \brief 1
static const XsReal& one = XsMath_one;
//! \brief -1
static const XsReal& minusOne = XsMath_minusOne;
//! \brief 2
static const XsReal& two = XsMath_two;
//! \brief 4
static const XsReal& four = XsMath_four;
//! \brief -2
static const XsReal& minusTwo = XsMath_minusTwo;
//! \brief -pi/2
static const XsReal& minusHalfPi = XsMath_minusHalfPi;
//! \brief pi/2
static const XsReal& halfPi = XsMath_halfPi;
//! \brief sqrt(2)
static const XsReal& sqrt2 = XsMath_sqrt2;
//! \brief infinity
static const XsReal& infinity = XsMath_infinity;

//! \brief \copybrief XsMath_asinClamped
inline XsReal asinClamped(XsReal x) { return XsMath_asinClamped(x); }
//! \brief \copybrief XsMath_rad2deg
inline XsReal rad2deg(XsReal radians) { return XsMath_rad2deg(radians); }
//! \brief \copybrief XsMath_deg2rad
inline XsReal deg2rad(XsReal degrees) { return XsMath_deg2rad(degrees); }
//! \brief \copybrief XsMath_pow2
inline XsReal pow2(XsReal a) { return XsMath_pow2(a); }
//! \brief \copybrief XsMath_pow3
inline XsReal pow3(XsReal a) { return XsMath_pow3(a); }
//! \brief \copybrief XsMath_doubleToLong
inline int32_t doubleToLong(double d) { return XsMath_doubleToLong(d); }
#ifndef XSENS_NO_INT64
//! \brief \copybrief XsMath_doubleToInt64
inline int64_t doubleToInt64(double d) { return XsMath_doubleToInt64(d); }
#endif
}  // namespace XsMath
#endif

#endif  // file guard