Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-26 09:26:25 +08:00
Code Issues Actions 6 Packages Projects Releases Wiki Activity

Functions: add squareroot linear function

Browse Source
This commit is contained in:
Matthias Grob
2020-12-02 15:42:21 +01:00
parent 3f3a82e034
commit badaf1eae0
2 changed files with 37 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/mathlib/math/Functions.hpp
+26
View File
@@ -172,4 +172,30 @@ const T gradual3(const T &value,
}
}
/*
* Squareroot, linear function with fixed corner point at intersection (1,1)
* /
* linear /
* /
* 1 /
* /
* sqrt |
* |
* 0 -------
* 0 1
*/
template<typename T>
const T sqrt_linear(const T &value)
{
if (value < static_cast<T>(0)) {
return static_cast<T>(0);
} else if (value < static_cast<T>(1)) {
return sqrtf(value);
} else {
return value;
}
}
} /* namespace math */
src/lib/mathlib/math/FunctionsTest.cpp
+11
View File
@@ -183,3 +183,14 @@ TEST(FunctionsTest, gradual3)
0.f, .5f, 1.5f,
1.f, 2.f, 3.f), 3.f);
}
TEST(FunctionsTest, sqrt_linear)
{
EXPECT_FLOAT_EQ(sqrt_linear(-12.f), 0.f);
EXPECT_FLOAT_EQ(sqrt_linear(-2.f), 0.f);
EXPECT_FLOAT_EQ(sqrt_linear(0.f), 0.f);
EXPECT_FLOAT_EQ(sqrt_linear(.5f), 0.70710678f);
EXPECT_FLOAT_EQ(sqrt_linear(1.f), 1.f);
EXPECT_FLOAT_EQ(sqrt_linear(2.f), 2.f);
EXPECT_FLOAT_EQ(sqrt_linear(120.f), 120.f);
}