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SearchMin and BezierQuad: replace define with static constexpr (#10050)

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This commit is contained in:
Dennis Mannhart
2018-07-30 18:28:27 +02:00
committed by Daniel Agar
parent 6660418c31
commit 00e09524f7
2 changed files with 7 additions and 9 deletions
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src/lib/bezier/BezierQuad.cpp
+2 -3
View File
@@ -41,9 +41,8 @@
namespace bezier namespace bezier
{ {
static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2
#define GOLDEN_RATIO 1.61803398 //(sqrt(5)+1)/2 static constexpr double RESOLUTION = 0.0001; //End criterion for golden section search
#define RESOLUTION 0.0001 //represents resolution; end criterion for golden section search
template<typename Tp> template<typename Tp>
void BezierQuad<Tp>::setBezier(const Vector3_t &pt0, const Vector3_t &ctrl, const Vector3_t &pt1, void BezierQuad<Tp>::setBezier(const Vector3_t &pt0, const Vector3_t &ctrl, const Vector3_t &pt1,
src/lib/mathlib/math/SearchMin.hpp
+5 -6
View File
@@ -38,14 +38,13 @@
* - Golden Section Search * - Golden Section Search
*/ */
#define GOLDEN_RATIO 1.6180339887 //(sqrt(5)+1)/2
#pragma once #pragma once
#include <platforms/px4_defines.h> #include <platforms/px4_defines.h>
namespace math namespace math
{ {
static constexpr double GOLDEN_RATIO = 1.6180339887; //(sqrt(5)+1)/2
// Type-safe abs // Type-safe abs
template<typename _Tp> template<typename _Tp>
@@ -60,8 +59,8 @@ inline const _Tp goldensection(const _Tp &arg1, const _Tp &arg2, _Tp(*fun)(_Tp),
{ {
_Tp a = arg1; _Tp a = arg1;
_Tp b = arg2; _Tp b = arg2;
_Tp c = b - (b - a) / ((_Tp)GOLDEN_RATIO); _Tp c = b - (b - a) / GOLDEN_RATIO;
_Tp d = a + (b - a) / ((_Tp)GOLDEN_RATIO); _Tp d = a + (b - a) / GOLDEN_RATIO;
while (abs_t(c - d) > tol) { while (abs_t(c - d) > tol) {
@@ -72,8 +71,8 @@ inline const _Tp goldensection(const _Tp &arg1, const _Tp &arg2, _Tp(*fun)(_Tp),
a = c; a = c;
} }
c = b - (b - a) / ((_Tp)GOLDEN_RATIO); c = b - (b - a) / GOLDEN_RATIO;
d = a + (b - a) / ((_Tp)GOLDEN_RATIO); d = a + (b - a) / GOLDEN_RATIO;
} }