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96a39e7ee7
ifdef code than needs CONFIG_FPU (acos and friends) BRANCH=ToT BUG=chrome-os-partner:32050 TEST=define CONFIG_FPU on host board and use it. Change-Id: I1c4ed16c23450bb4059d26044f4c1fe45b33674e Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/226414 Reviewed-by: Alec Berg <alecaberg@chromium.org> Reviewed-by: Sheng-liang Song <ssl@chromium.org>
60 lines
1.1 KiB
C
60 lines
1.1 KiB
C
/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/* Header file for common math functions. */
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#ifndef __CROS_MATH_UTIL_H
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#define __CROS_MATH_UTIL_H
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#ifdef CONFIG_FPU
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typedef float matrix_3x3_t[3][3];
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#else
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typedef int matrix_3x3_t[3][3];
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#endif
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typedef int vector_3_t[3];
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/* Some useful math functions. */
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#define SQ(x) ((x) * (x))
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#define ABS(x) ((x) >= 0 ? (x) : -(x))
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#ifdef CONFIG_FPU
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/**
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* Find acos(x) in degrees. Argument is clipped to [-1.0, 1.0].
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*
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* @param x
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*
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* @return acos(x) in degrees.
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*/
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float arc_cos(float x);
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/**
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* Find the cosine of the angle between two vectors.
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*
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* @param v1
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* @param v2
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*
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* @return Cosine of the angle between v1 and v2.
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*/
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float cosine_of_angle_diff(const vector_3_t v1, const vector_3_t v2);
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#endif
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/**
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* Rotate vector v by rotation matrix R.
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*
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* @param v Vector to be rotated.
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* @param R Rotation matrix.
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* @param res Resultant vector.
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*/
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void rotate(const vector_3_t v, const matrix_3x3_t R,
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vector_3_t res);
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#endif /* __CROS_MATH_UTIL_H */
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