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[math] print warnings when using deprecated macros (#1773)

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This commit is contained in:
Felix Ruess
2016-06-28 22:10:49 +02:00
committed by GitHub
parent 1f31ea7e5c
commit 43fb3bc22f
4 changed files with 81 additions and 79 deletions
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sw/airborne/math/pprz_algebra_double.h
+5 -5
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@@ -186,11 +186,11 @@ static inline void double_rmat_of_eulers(struct DoubleRMat *rm, struct DoubleEul
}
/* defines for backwards compatibility */
#define DOUBLE_RMAT_OF_EULERS(_rm, _e) double_rmat_of_eulers(&(_rm), &(_e))
#define DOUBLE_RMAT_OF_EULERS_321(_rm, _e) double_rmat_of_eulers(&(_rm), &(_e))
#define DOUBLE_QUAT_OF_EULERS(_q, _e) double_quat_of_eulers(&(_q), &(_e))
#define DOUBLE_EULERS_OF_QUAT(_e, _q) double_eulers_of_quat(&(_e), &(_q))
#define DOUBLE_QUAT_VMULT(v_out, q, v_in) double_quat_vmult(&(v_out), &(q), &(v_in))
#define DOUBLE_RMAT_OF_EULERS(_rm, _e) WARNING("DOUBLE_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))
#define DOUBLE_RMAT_OF_EULERS_321(_rm, _e) WARNING("DOUBLE_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))
#define DOUBLE_QUAT_OF_EULERS(_q, _e) WARNING("DOUBLE_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") double_quat_of_eulers(&(_q), &(_e))
#define DOUBLE_EULERS_OF_QUAT(_e, _q) WARNING("DOUBLE_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") double_eulers_of_quat(&(_e), &(_q))
#define DOUBLE_QUAT_VMULT(v_out, q, v_in) WARNING("DOUBLE_QUAT_VMULT macro is deprecated, use the lower case function instead") double_quat_vmult(&(v_out), &(q), &(v_in))
#ifdef __cplusplus
} /* extern "C" */
sw/airborne/math/pprz_algebra_float.h
+42 -41
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@@ -36,6 +36,7 @@ extern "C" {
#endif
#include "pprz_algebra.h"
#include "message_pragmas.h"
#include <math.h>
#include <float.h> // for FLT_MIN
@@ -196,9 +197,9 @@ extern void float_rates_of_euler_dot(struct FloatRates *r, struct FloatEulers *e
struct FloatEulers *edot);
/* defines for backwards compatibility */
#define FLOAT_VECT3_INTEGRATE_FI(_vo, _dv, _dt) float_vect3_integrate_fi(&(_vo), &(_dv), _dt)
#define FLOAT_RATES_INTEGRATE_FI(_ra, _racc, _dt) float_rates_integrate_fi(&(_ra), &(_racc), _dt)
#define FLOAT_RATES_OF_EULER_DOT(_ra, _e, _ed) float_rates_of_euler_dot(&(_ra), &(_e), &(_ed))
#define FLOAT_VECT3_INTEGRATE_FI(_vo, _dv, _dt) WARNING("FLOAT_VECT3_INTEGRATE_FI macro is deprecated, use the lower case function instead") float_vect3_integrate_fi(&(_vo), &(_dv), _dt)
#define FLOAT_RATES_INTEGRATE_FI(_ra, _racc, _dt) WARNING("FLOAT_RATES_INTEGRATE_FI macro is deprecated, use the lower case function instead") float_rates_integrate_fi(&(_ra), &(_racc), _dt)
#define FLOAT_RATES_OF_EULER_DOT(_ra, _e, _ed) WARNING("FLOAT_RATES_OF_EULER_DOT macro is deprecated, use the lower case function instead") float_rates_of_euler_dot(&(_ra), &(_e), &(_ed))
/*
@@ -311,20 +312,20 @@ extern void float_rmat_integrate_fi(struct FloatRMat *rm, struct FloatRates *ome
extern float float_rmat_reorthogonalize(struct FloatRMat *rm);
/* defines for backwards compatibility */
#define FLOAT_RMAT_INV(_m_b2a, _m_a2b) float_rmat_inv(&(_m_b2a), &(_m_a2b))
#define FLOAT_RMAT_NORM(_m) float_rmat_norm(&(_m))
#define FLOAT_RMAT_COMP(_m_a2c, _m_a2b, _m_b2c) float_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))
#define FLOAT_RMAT_COMP_INV(_m_a2b, _m_a2c, _m_b2c) float_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))
#define FLOAT_RMAT_VMULT(_vb, _m_a2b, _va) float_rmat_vmult(&(_vb), &(_m_a2b), &(_va))
#define FLOAT_RMAT_TRANSP_VMULT(_vb, _m_b2a, _va) float_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))
#define FLOAT_RMAT_RATEMULT(_rb, _m_a2b, _ra) float_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))
#define FLOAT_RMAT_TRANSP_RATEMULT(_rb, _m_b2a, _ra) float_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))
#define FLOAT_RMAT_OF_AXIS_ANGLE(_rm, _uv, _an) float_rmat_of_axis_angle(&(_rm), &(_uv), _an)
#define FLOAT_RMAT_OF_EULERS(_rm, _e) float_rmat_of_eulers_321(&(_rm), &(_e))
#define FLOAT_RMAT_OF_EULERS_321(_rm, _e) float_rmat_of_eulers_321(&(_rm), &(_e))
#define FLOAT_RMAT_OF_EULERS_312(_rm, _e) float_rmat_of_eulers_312(&(_rm), &(_e))
#define FLOAT_RMAT_OF_QUAT(_rm, _q) float_rmat_of_quat(&(_rm), &(_q))
#define FLOAT_RMAT_INTEGRATE_FI(_rm, _omega, _dt) float_rmat_integrate_fi(&(_rm), &(_omega), &(_dt))
#define FLOAT_RMAT_INV(_m_b2a, _m_a2b) WARNING("FLOAT_RMAT_INV macro is deprecated, use the lower case function instead") float_rmat_inv(&(_m_b2a), &(_m_a2b))
#define FLOAT_RMAT_NORM(_m) WARNING("FLOAT_RMAT_NORM macro is deprecated, use the lower case function instead") float_rmat_norm(&(_m))
#define FLOAT_RMAT_COMP(_m_a2c, _m_a2b, _m_b2c) WARNING("FLOAT_RMAT_COMP macro is deprecated, use the lower case function instead") float_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))
#define FLOAT_RMAT_COMP_INV(_m_a2b, _m_a2c, _m_b2c) WARNING("FLOAT_RMAT_COMP_INV macro is deprecated, use the lower case function instead") float_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))
#define FLOAT_RMAT_VMULT(_vb, _m_a2b, _va) WARNING("FLOAT_RMAT_VMULT macro is deprecated, use the lower case function instead") float_rmat_vmult(&(_vb), &(_m_a2b), &(_va))
#define FLOAT_RMAT_TRANSP_VMULT(_vb, _m_b2a, _va) WARNING("FLOAT_RMAT_TRANSP_VMULT macro is deprecated, use the lower case function instead") float_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))
#define FLOAT_RMAT_RATEMULT(_rb, _m_a2b, _ra) WARNING("FLOAT_RMAT_RATEMULT macro is deprecated, use the lower case function instead") float_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))
#define FLOAT_RMAT_TRANSP_RATEMULT(_rb, _m_b2a, _ra) WARNING("FLOAT_RMAT_TRANSP_RATEMULT macro is deprecated, use the lower case function instead") float_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))
#define FLOAT_RMAT_OF_AXIS_ANGLE(_rm, _uv, _an) WARNING("FLOAT_RMAT_OF_AXIS_ANGLE macro is deprecated, use the lower case function instead") float_rmat_of_axis_angle(&(_rm), &(_uv), _an)
#define FLOAT_RMAT_OF_EULERS(_rm, _e) WARNING("FLOAT_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") float_rmat_of_eulers_321(&(_rm), &(_e))
#define FLOAT_RMAT_OF_EULERS_321(_rm, _e) WARNING("FLOAT_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") float_rmat_of_eulers_321(&(_rm), &(_e))
#define FLOAT_RMAT_OF_EULERS_312(_rm, _e) WARNING("FLOAT_RMAT_OF_EULERS_312 macro is deprecated, use the lower case function instead") float_rmat_of_eulers_312(&(_rm), &(_e))
#define FLOAT_RMAT_OF_QUAT(_rm, _q) WARNING("FLOAT_RMAT_OF_QUAT macro is deprecated, use the lower case function instead") float_rmat_of_quat(&(_rm), &(_q))
#define FLOAT_RMAT_INTEGRATE_FI(_rm, _omega, _dt) WARNING("FLOAT_RMAT_INTEGRATE_FI macro is deprecated, use the lower case function instead") float_rmat_integrate_fi(&(_rm), &(_omega), &(_dt))
@@ -451,27 +452,27 @@ extern void float_quat_of_rmat(struct FloatQuat *q, struct FloatRMat *rm);
/* defines for backwards compatibility */
#define FLOAT_QUAT_ZERO(_q) float_quat_identity(&(_q))
#define FLOAT_QUAT_INVERT(_qo, _qi) float_quat_invert(&(_qo), &(_qi))
#define FLOAT_QUAT_WRAP_SHORTEST(_q) float_quat_wrap_shortest(&(_q))
#define FLOAT_QUAT_NORM(_q) float_quat_norm(&(_q))
#define FLOAT_QUAT_NORMALIZE(_q) float_quat_normalize(&(_q))
#define FLOAT_QUAT_COMP(_a2c, _a2b, _b2c) float_quat_comp(&(_a2c), &(_a2b), &(_b2c))
#define FLOAT_QUAT_MULT(_a2c, _a2b, _b2c) float_quat_comp(&(_a2c), &(_a2b), &(_b2c))
#define FLOAT_QUAT_INV_COMP(_b2c, _a2b, _a2c) float_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))
#define FLOAT_QUAT_COMP_INV(_a2b, _a2c, _b2c) float_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))
#define FLOAT_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) float_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))
#define FLOAT_QUAT_COMP_INV_NORM_SHORTEST(_a2b, _a2c, _b2c) float_quat_comp_inv_norm_shortest(&(_a2b), &(_a2c), &(_b2c))
#define FLOAT_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) float_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))
#define FLOAT_QUAT_DIFFERENTIAL(q_out, w, dt) float_quat_differential(&(q_out), &(w), dt)
#define FLOAT_QUAT_INTEGRATE(_q, _omega, _dt) float_quat_integrate(&(_q), &(_omega), _dt)
#define FLOAT_QUAT_VMULT(v_out, q, v_in) float_quat_vmult(&(v_out), &(q), &(v_in))
#define FLOAT_QUAT_DERIVATIVE(_qd, _r, _q) float_quat_derivative(&(_qd), &(_r), &(_q))
#define FLOAT_QUAT_DERIVATIVE_LAGRANGE(_qd, _r, _q) float_quat_derivative_lagrange(&(_qd), &(_r), &(_q))
#define FLOAT_QUAT_OF_EULERS(_q, _e) float_quat_of_eulers(&(_q), &(_e))
#define FLOAT_QUAT_OF_AXIS_ANGLE(_q, _uv, _an) float_quat_of_axis_angle(&(_q), &(_uv), _an)
#define FLOAT_QUAT_OF_ORIENTATION_VECT(_q, _ov) float_quat_of_orientation_vect(&(_q), &(_ov))
#define FLOAT_QUAT_OF_RMAT(_q, _r) float_quat_of_rmat(&(_q), &(_r))
#define FLOAT_QUAT_ZERO(_q) WARNING("FLOAT_QUAT_ZERO macro is deprecated, use the lower case function instead") float_quat_identity(&(_q))
#define FLOAT_QUAT_INVERT(_qo, _qi) WARNING("FLOAT_QUAT_INVERT macro is deprecated, use the lower case function instead") float_quat_invert(&(_qo), &(_qi))
#define FLOAT_QUAT_WRAP_SHORTEST(_q) WARNING("FLOAT_QUAT_WRAP_SHORTEST macro is deprecated, use the lower case function instead") float_quat_wrap_shortest(&(_q))
#define FLOAT_QUAT_NORM(_q) WARNING("FLOAT_QUAT_NORM macro is deprecated, use the lower case function instead") float_quat_norm(&(_q))
#define FLOAT_QUAT_NORMALIZE(_q) WARNING("FLOAT_QUAT_NORMALIZE macro is deprecated, use the lower case function instead") float_quat_normalize(&(_q))
#define FLOAT_QUAT_COMP(_a2c, _a2b, _b2c) WARNING("FLOAT_QUAT_COMP macro is deprecated, use the lower case function instead") float_quat_comp(&(_a2c), &(_a2b), &(_b2c))
#define FLOAT_QUAT_MULT(_a2c, _a2b, _b2c) WARNING("FLOAT_QUAT_MULT macro is deprecated, use the lower case function instead") float_quat_comp(&(_a2c), &(_a2b), &(_b2c))
#define FLOAT_QUAT_INV_COMP(_b2c, _a2b, _a2c) WARNING("FLOAT_QUAT_INV_COMP macro is deprecated, use the lower case function instead") float_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))
#define FLOAT_QUAT_COMP_INV(_a2b, _a2c, _b2c) WARNING("FLOAT_QUAT_COMP_INV macro is deprecated, use the lower case function instead") float_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))
#define FLOAT_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) WARNING("FLOAT_QUAT_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") float_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))
#define FLOAT_QUAT_COMP_INV_NORM_SHORTEST(_a2b, _a2c, _b2c) WARNING("FLOAT_QUAT_COMP_INV_NORM_SHORTEST macro is deprecated, use the lower case function instead") float_quat_comp_inv_norm_shortest(&(_a2b), &(_a2c), &(_b2c))
#define FLOAT_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) WARNING("FLOAT_QUAT_INV_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") float_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))
#define FLOAT_QUAT_DIFFERENTIAL(q_out, w, dt) WARNING("FLOAT_QUAT_DIFFERENTIAL macro is deprecated, use the lower case function instead") float_quat_differential(&(q_out), &(w), dt)
#define FLOAT_QUAT_INTEGRATE(_q, _omega, _dt) WARNING("FLOAT_QUAT_INTEGRATE macro is deprecated, use the lower case function instead") float_quat_integrate(&(_q), &(_omega), _dt)
#define FLOAT_QUAT_VMULT(v_out, q, v_in) WARNING("FLOAT_QUAT_VMULT macro is deprecated, use the lower case function instead") float_quat_vmult(&(v_out), &(q), &(v_in))
#define FLOAT_QUAT_DERIVATIVE(_qd, _r, _q) WARNING("FLOAT_QUAT_DERIVATIVE macro is deprecated, use the lower case function instead") float_quat_derivative(&(_qd), &(_r), &(_q))
#define FLOAT_QUAT_DERIVATIVE_LAGRANGE(_qd, _r, _q) WARNING("FLOAT_QUAT_DERIVATIVE_LAGRANGE macro is deprecated, use the lower case function instead") float_quat_derivative_lagrange(&(_qd), &(_r), &(_q))
#define FLOAT_QUAT_OF_EULERS(_q, _e) WARNING("FLOAT_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") float_quat_of_eulers(&(_q), &(_e))
#define FLOAT_QUAT_OF_AXIS_ANGLE(_q, _uv, _an) WARNING("FLOAT_QUAT_OF_AXIS_ANGLE macro is deprecated, use the lower case function instead") float_quat_of_axis_angle(&(_q), &(_uv), _an)
#define FLOAT_QUAT_OF_ORIENTATION_VECT(_q, _ov) WARNING("FLOAT_QUAT_OF_ORIENTATION_VECT macro is deprecated, use the lower case function instead") float_quat_of_orientation_vect(&(_q), &(_ov))
#define FLOAT_QUAT_OF_RMAT(_q, _r) WARNING("FLOAT_QUAT_OF_RMAT macro is deprecated, use the lower case function instead") float_quat_of_rmat(&(_q), &(_r))
@@ -491,9 +492,9 @@ extern void float_eulers_of_rmat(struct FloatEulers *e, struct FloatRMat *rm);
extern void float_eulers_of_quat(struct FloatEulers *e, struct FloatQuat *q);
/* defines for backwards compatibility */
#define FLOAT_EULERS_OF_RMAT(_e, _rm) float_eulers_of_rmat(&(_e), &(_rm))
#define FLOAT_EULERS_OF_QUAT(_e, _q) float_eulers_of_quat(&(_e), &(_q))
#define FLOAT_EULERS_NORM(_e) float_eulers_norm(&(_e))
#define FLOAT_EULERS_OF_RMAT(_e, _rm) WARNING("FLOAT_EULERS_OF_RMAT macro is deprecated, use the lower case function instead") float_eulers_of_rmat(&(_e), &(_rm))
#define FLOAT_EULERS_OF_QUAT(_e, _q) WARNING("FLOAT_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") float_eulers_of_quat(&(_e), &(_q))
#define FLOAT_EULERS_NORM(_e) WARNING("FLOAT_EULERS_NORM macro is deprecated, use the lower case function instead") float_eulers_norm(&(_e))
//
//
sw/airborne/math/pprz_algebra_int.h
+33 -33
View File
@@ -226,7 +226,7 @@ struct Int64Vect3 {
extern uint32_t int32_sqrt(uint32_t in);
#define INT32_SQRT(_out,_in) { _out = int32_sqrt(_in); }
#define INT32_SQRT(_out,_in) WARNING("INT32_SQRT macro is deprecated, use the lower case function instead") { _out = int32_sqrt(_in); }
/*
@@ -261,7 +261,7 @@ static inline void int32_vect2_normalize(struct Int32Vect2 *v, uint8_t frac)
}
}
#define INT32_VECT2_NORMALIZE(_v,_frac) int32_vect2_normalize(&(_v), _frac)
#define INT32_VECT2_NORMALIZE(_v,_frac) WARNING("INT32_VECT2_NORMALIZE macro is deprecated, use the lower case function instead") int32_vect2_normalize(&(_v), _frac)
#define INT32_VECT2_RSHIFT(_o, _i, _r) { \
@@ -407,17 +407,17 @@ extern void int32_rmat_of_eulers_312(struct Int32RMat *rm, struct Int32Eulers *e
#define int32_rmat_of_eulers int32_rmat_of_eulers_321
/* defines for backwards compatibility */
#define INT32_RMAT_COMP(_m_a2c, _m_a2b, _m_b2c) int32_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))
#define INT32_RMAT_COMP_INV(_m_a2b, _m_a2c, _m_b2c) int32_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))
#define INT32_RMAT_VMULT(_vb, _m_a2b, _va) int32_rmat_vmult(&(_vb), &(_m_a2b), &(_va))
#define INT32_RMAT_TRANSP_VMULT(_vb, _m_b2a, _va) int32_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))
#define INT32_RMAT_RATEMULT(_rb, _m_a2b, _ra) int32_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))
#define INT32_RMAT_TRANSP_RATEMULT(_rb, _m_b2a, _ra) int32_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))
#define INT32_RMAT_COMP(_m_a2c, _m_a2b, _m_b2c) WARNING("INT32_RMAT_COMP macro is deprecated, use the lower case function instead") int32_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))
#define INT32_RMAT_COMP_INV(_m_a2b, _m_a2c, _m_b2c) WARNING("INT32_RMAT_COMP_INV macro is deprecated, use the lower case function instead") int32_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))
#define INT32_RMAT_VMULT(_vb, _m_a2b, _va) WARNING("INT32_RMAT_VMULT macro is deprecated, use the lower case function instead") int32_rmat_vmult(&(_vb), &(_m_a2b), &(_va))
#define INT32_RMAT_TRANSP_VMULT(_vb, _m_b2a, _va) WARNING("INT32_RMAT_TRANSP_VMULT macro is deprecated, use the lower case function instead") int32_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))
#define INT32_RMAT_RATEMULT(_rb, _m_a2b, _ra) WARNING("INT32_RMAT_RATEMULT macro is deprecated, use the lower case function instead") int32_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))
#define INT32_RMAT_TRANSP_RATEMULT(_rb, _m_b2a, _ra) WARNING("INT32_RMAT_TRANSP_RATEMULT macro is deprecated, use the lower case function instead") int32_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))
#define INT32_RMAT_OF_QUAT(_rm, _q) int32_rmat_of_quat(&(_rm), &(_q))
#define INT32_RMAT_OF_EULERS(_rm, _e) int32_rmat_of_eulers_321(&(_rm), &(_e))
#define INT32_RMAT_OF_EULERS_321(_rm, _e) int32_rmat_of_eulers_321(&(_rm), &(_e))
#define INT32_RMAT_OF_EULERS_312(_rm, _e) int32_rmat_of_eulers_312(&(_rm), &(_e))
#define INT32_RMAT_OF_QUAT(_rm, _q) WARNING("INT32_RMAT_OF_QUAT macro is deprecated, use the lower case function instead") int32_rmat_of_quat(&(_rm), &(_q))
#define INT32_RMAT_OF_EULERS(_rm, _e) WARNING("INT32_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") int32_rmat_of_eulers_321(&(_rm), &(_e))
#define INT32_RMAT_OF_EULERS_321(_rm, _e) WARNING("INT32_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") int32_rmat_of_eulers_321(&(_rm), &(_e))
#define INT32_RMAT_OF_EULERS_312(_rm, _e) WARNING("INT32_RMAT_OF_EULERS_312 macro is deprecated, use the lower case function instead") int32_rmat_of_eulers_312(&(_rm), &(_e))
/*
@@ -518,21 +518,21 @@ extern void int32_quat_of_axis_angle(struct Int32Quat *q, struct Int32Vect3 *uv,
extern void int32_quat_of_rmat(struct Int32Quat *q, struct Int32RMat *r);
/* defines for backwards compatibility */
#define INT32_QUAT_ZERO(_q) int32_quat_identity(&(_q))
#define INT32_QUAT_NORM(n, q) { n = int32_quat_norm(&(q)); }
#define INT32_QUAT_WRAP_SHORTEST(q) int32_quat_wrap_shortest(&(q))
#define INT32_QUAT_NORMALIZE(q) int32_quat_normalize(&(q))
#define INT32_QUAT_COMP(_a2c, _a2b, _b2c) int32_quat_comp(&(_a2c), &(_a2b), &(_b2c))
#define INT32_QUAT_COMP_INV(_a2b, _a2c, _b2c) int32_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))
#define INT32_QUAT_INV_COMP(_b2c, _a2b, _a2c) int32_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))
#define INT32_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) int32_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))
#define INT32_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) int32_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))
#define INT32_QUAT_DERIVATIVE(_qd, _r, _q) int32_quat_derivative(&(_qd), &(_r), &(_q))
#define INT32_QUAT_INTEGRATE_FI(_q, _hr, _omega, _f) int32_quat_integrate_fi(&(_q), &(_hr), &(_omega), _f)
#define INT32_QUAT_VMULT(v_out, q, v_in) int32_quat_vmult(&(v_out), &(q), &(v_in))
#define INT32_QUAT_OF_EULERS(_q, _e) int32_quat_of_eulers(&(_q), &(_e))
#define INT32_QUAT_OF_AXIS_ANGLE(_q, _uv, _an) int32_quat_of_axis_angle(&(_q), &(_uv), _an)
#define INT32_QUAT_OF_RMAT(_q, _r) int32_quat_of_rmat(&(_q), &(_r))
#define INT32_QUAT_ZERO(_q) WARNING("INT32_QUAT_ZERO macro is deprecated, use the lower case function instead") int32_quat_identity(&(_q))
#define INT32_QUAT_NORM(n, q) WARNING("INT32_QUAT_NORM macro is deprecated, use the lower case function instead") { n = int32_quat_norm(&(q)); }
#define INT32_QUAT_WRAP_SHORTEST(q) WARNING("INT32_QUAT_WRAP_SHORTEST macro is deprecated, use the lower case function instead") int32_quat_wrap_shortest(&(q))
#define INT32_QUAT_NORMALIZE(q) WARNING("INT32_QUAT_NORMALIZE macro is deprecated, use the lower case function instead") int32_quat_normalize(&(q))
#define INT32_QUAT_COMP(_a2c, _a2b, _b2c) WARNING("INT32_QUAT_COMP macro is deprecated, use the lower case function instead") int32_quat_comp(&(_a2c), &(_a2b), &(_b2c))
#define INT32_QUAT_COMP_INV(_a2b, _a2c, _b2c) WARNING("INT32_QUAT_COMP_INV macro is deprecated, use the lower case function instead") int32_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))
#define INT32_QUAT_INV_COMP(_b2c, _a2b, _a2c) WARNING("INT32_QUAT_INV_COMP macro is deprecated, use the lower case function instead") int32_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))
#define INT32_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) WARNING("INT32_QUAT_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") int32_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))
#define INT32_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) WARNING("INT32_QUAT_INV_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") int32_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))
#define INT32_QUAT_DERIVATIVE(_qd, _r, _q) WARNING("INT32_QUAT_DERIVATIVE macro is deprecated, use the lower case function instead") int32_quat_derivative(&(_qd), &(_r), &(_q))
#define INT32_QUAT_INTEGRATE_FI(_q, _hr, _omega, _f) WARNING("INT32_QUAT_INTEGRATE_FI macro is deprecated, use the lower case function instead") int32_quat_integrate_fi(&(_q), &(_hr), &(_omega), _f)
#define INT32_QUAT_VMULT(v_out, q, v_in) WARNING("INT32_QUAT_VMULT macro is deprecated, use the lower case function instead") int32_quat_vmult(&(v_out), &(q), &(v_in))
#define INT32_QUAT_OF_EULERS(_q, _e) WARNING("INT32_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") int32_quat_of_eulers(&(_q), &(_e))
#define INT32_QUAT_OF_AXIS_ANGLE(_q, _uv, _an) WARNING("INT32_QUAT_OF_AXIS_ANGLE macro is deprecated, use the lower case function instead") int32_quat_of_axis_angle(&(_q), &(_uv), _an)
#define INT32_QUAT_OF_RMAT(_q, _r) WARNING("INT32_QUAT_OF_RMAT macro is deprecated, use the lower case function instead") int32_quat_of_rmat(&(_q), &(_r))
/*
@@ -547,8 +547,8 @@ extern void int32_eulers_of_rmat(struct Int32Eulers *e, struct Int32RMat *rm);
extern void int32_eulers_of_quat(struct Int32Eulers *e, struct Int32Quat *q);
/* defines for backwards compatibility */
#define INT32_EULERS_OF_RMAT(_e, _rm) int32_eulers_of_rmat(&(_e), &(_rm))
#define INT32_EULERS_OF_QUAT(_e, _q) int32_eulers_of_quat(&(_e), &(_q))
#define INT32_EULERS_OF_RMAT(_e, _rm) WARNING("INT32_EULERS_OF_RMAT macro is deprecated, use the lower case function instead") int32_eulers_of_rmat(&(_e), &(_rm))
#define INT32_EULERS_OF_QUAT(_e, _q) WARNING("INT32_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") int32_eulers_of_quat(&(_e), &(_q))
#define INT32_EULERS_LSHIFT(_o, _i, _r) { \
(_o).phi = ((_i).phi << (_r)); \
@@ -588,10 +588,10 @@ extern void int32_eulers_dot_321_of_rates(struct Int32Eulers *ed, struct Int32Eu
#define int32_eulers_dot_of_rates int32_eulers_dot_321_of_rates
/* defines for backwards compatibility */
#define INT32_RATES_OF_EULERS_DOT_321(_r, _e, _ed) int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))
#define INT32_RATES_OF_EULERS_DOT(_r, _e, _ed) int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))
#define INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))
#define INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))
#define INT32_RATES_OF_EULERS_DOT_321(_r, _e, _ed) WARNING("INT32_RATES_OF_EULERS_DOT_321 macro is deprecated, use the lower case function instead") int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))
#define INT32_RATES_OF_EULERS_DOT(_r, _e, _ed) WARNING("INT32_RATES_OF_EULERS_DOT macro is deprecated, use the lower case function instead") int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))
#define INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) WARNING("INT32_EULERS_DOT_321_OF_RATES macro is deprecated, use the lower case function instead") int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))
#define INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) WARNING("INT32_EULERS_DOT_OF_RATES macro is deprecated, use the lower case function instead") int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))
//
sw/include/message_pragmas.h
+1
View File
@@ -7,6 +7,7 @@
#define VALUE(x) VALUE_TO_STRING(x)
/* some convenience macros to print debug/config messages at compile time */
#define WARNING(x) DO_PRAGMA(GCC warning #x)
#define MESSAGE(x) DO_PRAGMA(message (x))
#define TODO(x) DO_PRAGMA(message ("TODO - " x))
#define INFO(x) DO_PRAGMA(message ("Info: " x))