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/******************************************************************************
* The MIT License
*
* Copyright (c) 2010 Perry Hung.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*****************************************************************************/
/**
* @file wirish_math.h
* @brief Includes cmath; provides Arduino-compatible math routines.
*/
#ifndef _WIRING_MATH_H_
#define _WIRING_MATH_H_
#include <math.h>
#ifdef __cplusplus
/**
* @brief Initialize the pseudo-random number generator.
* @param seed the number used to initialize the seed; cannot be zero.
*/
void randomSeed(unsigned int seed);
/**
* @brief Generate a pseudo-random number with upper bound.
* @param max An upper bound on the returned value, exclusive.
* @return A pseudo-random number in the range [0,max).
* @see randomSeed()
*/
long random(long max);
/**
* @brief Generate a pseudo-random number with lower and upper bounds.
* @param min Lower bound on the returned value, inclusive.
* @param max Upper bound on the returned value, exclusive.
* @return A pseudo-random number in the range [min, max).
* @see randomSeed()
*/
long random(long min, long max);
/**
* @brief Remap a number from one range to another.
*
* That is, a value equal to fromStart gets mapped to toStart, a value
* of fromEnd to toEnd, and other values are mapped proportionately.
*
* Does not constrain value to lie within [fromStart, fromEnd].
*
* If a "start" value is larger than its corresponding "end", the
* ranges are reversed, so map(n, 1, 10, 10, 1) would reverse the
* range [1,10].
*
* Negative numbers may appear as any argument.
*
* @param value the value to map.
* @param fromStart the beginning of the value's current range.
* @param fromEnd the end of the value's current range.
* @param toStart the beginning of the value's mapped range.
* @param toEnd the end of the value's mapped range.
* @return the mapped value.
*/
/* TODO: profile code bloat due to inlining this */
inline long map(long value, long fromStart, long fromEnd,
long toStart, long toEnd) {
return (value - fromStart) * (toEnd - toStart) / (fromEnd - fromStart) +
toStart;
}
#define PI 3.1415926535897932384626433832795
#define HALF_PI 1.5707963267948966192313216916398
#define TWO_PI 6.283185307179586476925286766559
#define DEG_TO_RAD 0.017453292519943295769236907684886
#define RAD_TO_DEG 57.295779513082320876798154814105
#define min(a,b) ((a)<(b)?(a):(b))
#define max(a,b) ((a)>(b)?(a):(b))
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
#define radians(deg) ((deg)*DEG_TO_RAD)
#define degrees(rad) ((rad)*RAD_TO_DEG)
#define sq(x) ((x)*(x))
/* undefine stdlib's abs if encountered */
#ifdef abs
#undef abs
#endif
#define abs(x) (((x) > 0) ? (x) : -(unsigned)(x))
#endif
/* Following are duplicate declarations (with Doxygen comments) for
* some of the math.h functions; this is for the convenience of the
* Sphinx docs.
*/
/**
* Compute the cosine of an angle, in radians.
* @param x The radian measure of the angle.
* @return The cosine of x. This value will be between -1 and 1.
*/
double cos(double x);
/**
* Compute the sine of an angle, in radians.
* @param x The radian measure of the angle.
* @return The sine of x. This value will be between -1 and 1.
*/
double sin(double x);
/**
* Compute the tangent of an angle, in radians.
* @param x The radian measure of the angle.
* @return The tangent of x. There are no limits on the return value
* of this function.
*/
double tan(double x);
/**
* Compute the square root of a number.
* @param x The number whose square root to find. This value cannot
* be negative.
* @return The square root of x. The return value is never negative.
*/
double sqrt(double x);
/**
* Compute an exponentiation.
* @param x the base. This value cannot be zero if y <= 0. This value
* cannot be negative if y is not an integral value.
* @param y the exponent.
* @return x raised to the power y.
*/
double pow(double x, double y);
#endif
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