RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Trying to fix specialization before instantiation error

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This commit is contained in:
Pascal Serrarens 2024-12-28 14:52:20 +01:00
parent 47ba024619
commit 52de55d7d0
1 changed files with 89 additions and 89 deletions
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176
Angle.cpp
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@ -11,98 +11,12 @@ const float Deg2Rad = 0.0174532924F;
//----------------------
//===== AngleSingle, AngleOf<float>
template <> AngleOf<float> AngleOf<float>::Degrees(float degrees) {
if (isfinite(degrees)) {
while (degrees < -180)
degrees += 360;
while (degrees >= 180)
degrees -= 360;
}
return Binary(degrees);
}
template <> AngleOf<float> AngleOf<float>::Radians(float radians) {
if (isfinite(radians)) {
while (radians <= -pi)
radians += 2 * pi;
while (radians > pi)
radians -= 2 * pi;
}
return Binary(radians * Rad2Deg);
}
template <> float AngleOf<float>::InDegrees() const { return this->value; }
template <> float AngleOf<float>::InRadians() const {
return this->value * Deg2Rad;
}
//===== Angle16, AngleOf<signed short>
template <>
AngleOf<signed short> AngleOf<signed short>::Degrees(float degrees) {
// map float [-180..180) to integer [-32768..32767]
signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F);
return Binary(value);
}
template <>
AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
if (!isfinite(radians))
return AngleOf<signed short>::zero;
// map float [-PI..PI) to integer [-32768..32767]
signed short value = (signed short)roundf(radians / pi * 32768.0F);
return Binary(value);
}
template <> float AngleOf<signed short>::InDegrees() const {
float degrees = this->value / 65536.0f * 360.0f;
return degrees;
}
template <> float AngleOf<signed short>::InRadians() const {
float radians = this->value / 65536.0f * (2 * pi);
return radians;
}
//===== Angle8, AngleOf<signed char>
template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
// map float [-180..180) to integer [-128..127)
signed char value = (signed char)roundf(degrees / 360.0F * 256.0F);
return Binary(value);
}
template <> AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
if (!isfinite(radians))
return AngleOf<signed char>::zero;
// map float [-pi..pi) to integer [-128..127)
signed char value = (signed char)roundf(radians / pi * 128.0f);
return Binary(value);
}
template <> float AngleOf<signed char>::InDegrees() const {
float degrees = this->value / 256.0f * 360.0f;
return degrees;
}
template <> float AngleOf<signed char>::InRadians() const {
float radians = this->value / 128.0f * pi;
return radians;
}
//===== Generic
template <typename T> AngleOf<T>::AngleOf() : value(0) {}
template <typename T> const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
//===== Generic
template <typename T> AngleOf<T> AngleOf<T>::Binary(T rawValue) {
AngleOf<T> angle = AngleOf<T>();
angle.SetBinary(rawValue);
@ -357,3 +271,89 @@ AngleOf<T> AngleOf<T>::SineRuleAngle(float a, AngleOf<T> beta, float b) {
template class AngleOf<float>;
template class AngleOf<signed char>;
template class AngleOf<signed short>;
//===== AngleSingle, AngleOf<float>
template <> AngleOf<float> AngleOf<float>::Degrees(float degrees) {
if (isfinite(degrees)) {
while (degrees < -180)
degrees += 360;
while (degrees >= 180)
degrees -= 360;
}
return Binary(degrees);
}
template <> AngleOf<float> AngleOf<float>::Radians(float radians) {
if (isfinite(radians)) {
while (radians <= -pi)
radians += 2 * pi;
while (radians > pi)
radians -= 2 * pi;
}
return Binary(radians * Rad2Deg);
}
template <> float AngleOf<float>::InDegrees() const { return this->value; }
template <> float AngleOf<float>::InRadians() const {
return this->value * Deg2Rad;
}
//===== Angle16, AngleOf<signed short>
template <>
AngleOf<signed short> AngleOf<signed short>::Degrees(float degrees) {
// map float [-180..180) to integer [-32768..32767]
signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F);
return Binary(value);
}
template <>
AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
if (!isfinite(radians))
return AngleOf<signed short>::zero;
// map float [-PI..PI) to integer [-32768..32767]
signed short value = (signed short)roundf(radians / pi * 32768.0F);
return Binary(value);
}
template <> float AngleOf<signed short>::InDegrees() const {
float degrees = this->value / 65536.0f * 360.0f;
return degrees;
}
template <> float AngleOf<signed short>::InRadians() const {
float radians = this->value / 65536.0f * (2 * pi);
return radians;
}
//===== Angle8, AngleOf<signed char>
template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
// map float [-180..180) to integer [-128..127)
signed char value = (signed char)roundf(degrees / 360.0F * 256.0F);
return Binary(value);
}
template <> AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
if (!isfinite(radians))
return AngleOf<signed char>::zero;
// map float [-pi..pi) to integer [-128..127)
signed char value = (signed char)roundf(radians / pi * 128.0f);
return Binary(value);
}
template <> float AngleOf<signed char>::InDegrees() const {
float degrees = this->value / 256.0f * 360.0f;
return degrees;
}
template <> float AngleOf<signed char>::InRadians() const {
float radians = this->value / 128.0f * pi;
return radians;
}