/****************************************************************************/ /* Copyright (c) 2000 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : Math.h */ /* Author : */ /* Project : */ /* Version : 1.0 */ /* Created : 02/07/2000 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #ifndef _MATHP_H #define _MATHP_H /* $Log$ Revision 1.1.2.1 2018/11/20 20:03:21 henthorn QNX-additions is a library of routines for use outside of QNX - stripped down version of DataLog, TimeP, and NavUtils. auv-qnx dependencies removed. Link to libqnx.a. Revision 1.4.2.2 2016/10/05 18:24:23 rob Added both uniform and Gaussian noise generators. Added a unit test, testGasDev. Revision 1.4.2.1 2016/02/02 22:49:56 rob Overloaed shellSort to also sort an array of structs. Revision 1.4 2013/12/05 19:18:29 rob Overloaded the shell sort routine to take a pointer to a long, and a pointer to a double, as arguments. testShell is a unit test. I'll probably replace these variations with a single template version the next time around. Revision 1.3 2006/09/06 21:29:23 rob Added a Shell sort routine. Revision 1.2 2004/09/15 23:28:06 rob Added a root-solver using the bisect algorithm from Numerical Recipes. Revision 1.1 2001/06/02 21:33:54 hthomas various changes; remove stale entries in root makefile, fixed file naming to allow for serving from windows, and fixed makefiles to avoid file linking/unlinking problem in makedepend when talking through samba to windows boxes Revision 1.5 2000/08/21 20:54:20 oreilly Added round() method Revision 1.4 2000/05/02 21:08:57 rob Added RpmToRadps conversion constant. Revision 1.3 2000/02/07 20:59:22 pean Added revised header to include Proprietary Information Revision 1.2 2000/01/19 06:13:44 oreilly Debug vers of matherr() Revision 1.1 1999/12/07 23:03:07 pean Created utils subdirectory and moved source files here to help manage sources Revision 1.6 1999/12/04 01:06:38 rob Added "static" to the declarations of the new functions. Revision 1.5 1999/12/03 23:21:32 rob Moved some functions from DynamicControl here. Revision 1.4 1999/11/19 19:19:07 oreilly *** empty log message *** Revision 1.3 1999/10/12 23:17:48 oreilly *** empty log message *** Revision 1.2 1999/09/15 23:03:42 pean Added kvh compass interface module Revision 1.1 1999/09/09 18:39:37 oreilly *** empty log message *** Revision 1.3 1997/04/09 16:34:48 oreilly include "trig.h" * Revision 1.2 96/10/28 09:00:15 09:00:15 oreilly (Thomas C. O'Reilly) * Math utilities * * Revision 1.1 96/08/14 13:30:39 13:30:39 oreilly (Thomas C. O'Reilly) * Initial revision * */ #include #ifndef M_PI #define M_PI 3.14159265358979323846 #endif #ifndef PI #define PI 3.14159265358979323846 #endif // Indices for vectors //#define X 0 //#define Y 1 //#define Z 2 typedef double Radians; // // For shell short: struct beams { float *range; short num; }; /* CLASS Math DESCRIPTION Various static utility methods, including angular conversions. AUTHOR Tom O'Reilly */ class Math { public: /////////////////////////////////////////////////////////////////// // 2 times pi static const double TwoPi; /////////////////////////////////////////////////////////////////// // Radians per degree static const double RadsPerDeg; /////////////////////////////////////////////////////////////////// // Degrees per radian static const double DegsPerRad; /////////////////////////////////////////////////////////////////// // Convert rpm to radians per second static const double RpmToRadps; /////////////////////////////////////////////////////////////////// // Normalize angle so it is in range 0 to 2PI static void zeroToTwoPi(Radians *angle); /////////////////////////////////////////////////////////////////// // Normalize angle so it is in range -PI to PI static void minusPiToPi(Radians *pitch); /////////////////////////////////////////////////////////////////// // Angular separation in clockwise direction static Radians angularSeparation(Radians start, Radians stop); /////////////////////////////////////////////////////////////////// // Convert and angle in degs to an angle in radians static Radians degToRad(double deg); /////////////////////////////////////////////////////////////////// // Convert and angle in radians to an angle in degrees static double radToDeg(Radians rads); /////////////////////////////////////////////////////////////////// // Simple limit function: static double limit( double value, double max, double min ); /////////////////////////////////////////////////////////////////// // sgn function: static double sgn( double x ); /////////////////////////////////////////////////////////////////// // modulo Pi function: static double modPi( double angle ); /////////////////////////////////////////////////////////////////// // Round to nearest integer (QNX has no rint()!!!) static int round(double x); // // Bisection root solver from the old Numerical Recipes book. // Inputs: // func(x) - function pointer to a scalar function that passes // through zero in the interval [x1, x2]. // xtol - this routine terminates when |x0 - xz| <= tol, // where f(xz) = 0 analytically. // Output: // x0 - numerical solution; f(x0) approx = 0. // count - number of iterations. static double bisect( double (*func)(double), double x1, double x2, double xtol, int *count); // // Simple sort routine, invented by Donald Shell 1959. It is 0(n^2), but // the code is simple, and appropriate for small arrays here. // // Changed int to long; rsm 5 Sept 06. static void shellSort(long numbers[], int array_size); // // Also do it for pointers to longs; rsm 8 Nov 13. static void shellSort(long *numbers[], int array_size); // // Also do it for pointers to doubles; rsm 12 Nov 13. static void shellSort(double *numbers[], int array_size); // // Also do it a struct; rsm 28 Jan 2016: static void shellSort(struct beams b[], int array_size); }; #endif