62 lines
1.6 KiB
C++
62 lines
1.6 KiB
C++
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/* Copyright 2018-2019 The MathWorks, Inc. */
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/**
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* @file
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* Constants used in shared autonomous features.
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* To fully support code generation, note that this file needs to be fully
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* compliant with the C++98 standard.
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*/
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#ifndef AUTONOMOUSCODEGEN_CONSTANTS_H_
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#define AUTONOMOUSCODEGEN_CONSTANTS_H_
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#ifdef BUILDING_LIBMWAUTONOMOUSCODEGEN
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#include "autonomouscodegen/autonomouscodegen_util.hpp"
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#else
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#include "autonomouscodegen_util.hpp"
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#endif
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namespace autonomous {
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// Codegen-compatible versions of declaration in
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// matlab/math/foundation/src/mfl_scalar/export/include/mfl_scalar/detail/word_types.hpp
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typedef union {
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real64_T value;
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struct {
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uint32_T lw;
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uint32_T hw;
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} words;
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} auton_double_word_T;
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// Codegen-compatible version of declarations in
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// matlab/math/foundation/src/mfl_scalar/export/include/mfl_scalar/constants.hpp
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inline real64_T getInf() {
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autonomous::auton_double_word_T tmp;
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tmp.words.hw = 0x7ff00000U;
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tmp.words.lw = 0x00000000U;
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return tmp.value;
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}
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inline real64_T getNaN(){
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autonomous::auton_double_word_T x;
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x.words.hw = 0xfff80000U;
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x.words.lw = 0x00000000U;
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return x.value;
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}
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inline real64_T getPi() {
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return 3.14159265358979323846;
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}
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// toosamll value found from a trial-and-error process to find thresholds
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// such that the unit tests would consistently pass. Source - OMPL.
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const real64_T tooSmall = 1e-7;
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const real64_T pi = autonomous::getPi();
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const real64_T twoPi = 2.0 * autonomous::getPi();
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const real64_T inf = autonomous::getInf();
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const real64_T nan = autonomous::getNaN();
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} // namespace autonomous
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#endif // AUTONOMOUSCODEGEN_CONSTANTS_H_
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