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24 lines
683 B
C
24 lines
683 B
C
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#ifndef __UTILS_H
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#define __UTILS_H
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#ifndef M_PI
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#define M_PI 3.14159265358979323846f
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#endif
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#define MACRO_MAX(x, y) (((x) > (y)) ? (x) : (y))
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#define MACRO_MIN(x, y) (((x) < (y)) ? (x) : (y))
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// Compute rising edge timings (0.0 - 1.0) as a function of alpha-beta
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// as per the magnitude invariant clarke transform
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// The magnitude of the alpha-beta vector may not be larger than sqrt(3)/2
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// Returns 0 on success, and -1 if the input was out of range
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int SVM(float alpha, float beta, float* tA, float* tB, float* tC);
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//beware of inserting large angles!
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float wrap_pm_pi(float theta);
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float fast_atan2(float y, float x);
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int mod(int dividend, int divisor);
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#endif //__UTILS_H
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