mathlib Limits move radians/degrees to header (#9102)

PX4 · Mar 19, 2018 · e63f9d9 · e63f9d9
1 parent cd25083
commit e63f9d9
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Showing 3 changed files with 13 additions and 84 deletions.
diff --git a/src/lib/mathlib/CMakeLists.txt b/src/lib/mathlib/CMakeLists.txt
@@ -35,7 +35,6 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		math/test/test.cpp
-		math/Limits.cpp
 		math/matrix_alg.cpp
 		math/filter/LowPassFilter2p.cpp
 	)
diff --git a/src/lib/mathlib/math/Limits.cpp b/src/lib/mathlib/math/Limits.cpp
diff --git a/src/lib/mathlib/math/Limits.hpp b/src/lib/mathlib/math/Limits.hpp
@@ -55,29 +55,33 @@ namespace math
 {
 
 template<typename _Tp>
-inline constexpr const _Tp &min(const _Tp &a, const _Tp &b)
+constexpr const _Tp &min(const _Tp &a, const _Tp &b)
 {
 	return (a < b) ? a : b;
 }
 
 template<typename _Tp>
-inline constexpr const _Tp &max(const _Tp &a, const _Tp &b)
+constexpr const _Tp &max(const _Tp &a, const _Tp &b)
 {
 	return (a > b) ? a : b;
 }
 
 template<typename _Tp>
-inline constexpr const _Tp &constrain(const _Tp &val, const _Tp &min_val, const _Tp &max_val)
+constexpr const _Tp &constrain(const _Tp &val, const _Tp &min_val, const _Tp &max_val)
 {
 	return (val < min_val) ? min_val : ((val > max_val) ? max_val : val);
 }
 
-float __EXPORT radians(float degrees);
-
-double __EXPORT radians(double degrees);
-
-float __EXPORT degrees(float radians);
+template<typename T>
+constexpr T radians(const T degrees)
+{
+	return degrees * (static_cast<T>(M_PI) / static_cast<T>(180));
+}
 
-double __EXPORT degrees(double radians);
+template<typename T>
+constexpr T degrees(const T radians)
+{
+	return radians * (static_cast<T>(180) / static_cast<T>(M_PI));
+}
 
 }