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Switch to using built-in M_PI, even on MSVC (#68)

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This commit is contained in:
Chris Hennes
2024-06-25 19:12:17 -05:00
committed by GitHub
parent 9058e0849d
commit d50532d3e7
12 changed files with 34 additions and 62 deletions
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5
CMakeLists.txt
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@@ -438,7 +438,6 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/ConstVelConstraintIJ.h
OndselSolver/ConstVelConstraintIqcJc.h
OndselSolver/ConstVelConstraintIqcJqc.h
OndselSolver/corecrt_math_defines.h
OndselSolver/Cosine.h
OndselSolver/CREATE.h
OndselSolver/CylindricalJoint.h
@@ -662,6 +661,10 @@ set_target_properties(OndselSolver
PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}"
)
if(MSVC)
target_compile_definitions(OndselSolver PRIVATE _USE_MATH_DEFINES)
endif(MSVC)
configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
install(TARGETS OndselSolver
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}

4
OndselSolver/AllowZRotationConstraintIqctJqc.cpp
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@@ -37,11 +37,11 @@ void MbD::AllowZRotationConstraintIqctJqc::postInput()
auto aEulerAngleszxz = aAImJe->eulerAngleszxz();
auto the1z = aEulerAngleszxz->at(1);
auto the2x = aEulerAngleszxz->at(2);
if (std::abs(the2x) < (OS_M_PI / 2.0)) {
if (std::abs(the2x) < (M_PI / 2.0)) {
eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(the1z);
}
else {
eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(OS_M_PI + the1z);
eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(M_PI + the1z);
}
eqctI->postInput();
DirectionCosineConstraintIqctJqc::postInput();

4
OndselSolver/AngleZIecJec.cpp
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@@ -6,7 +6,7 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "corecrt_math_defines.h"
#include <cmath>
#include "AngleZIecJec.h"
#include "Numeric.h"
@@ -30,7 +30,7 @@ void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
auto diffOfSquares = sthez * sthez - (cthez * cthez);
auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
thez = std::round((thez - thez0to2pi) / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
//std::cout << "AngleZIecJec thez = " << thez << std::endl;
cosOverSSq = cthez / sumOfSquares;

8
OndselSolver/FullMatrix.h
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@@ -8,7 +8,7 @@
#pragma once
#include "corecrt_math_defines.h"
#include <cmath>
#include <memory>
#include "RowTypeMatrix.h"
@@ -641,12 +641,12 @@ namespace MbD {
if (std::abs(sthe1y) > 0.9999) {
if (sthe1y > 0.0) {
the0x = std::atan2(this->at(1)->at(0), this->at(1)->at(1));
the1y = OS_M_PI / 2.0;
the1y = M_PI / 2.0;
the2z = 0.0;
}
else {
the0x = std::atan2(this->at(2)->at(1), this->at(2)->at(0));
the1y = OS_M_PI / -2.0;
the1y = M_PI / -2.0;
the2z = 0.0;
}
}
@@ -682,7 +682,7 @@ namespace MbD {
the2z = 0.0;
}
else {
the1x = OS_M_PI;
the1x = M_PI;
the2z = 0.0;
}
}

6
OndselSolver/MomentOfInertiaSolver.cpp
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@@ -15,7 +15,7 @@ void MbD::MomentOfInertiaSolver::example1()
auto rpPp = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
auto rotAxis = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
auto aApP = std::make_shared<EulerParameters<double>>(rotAxis, OS_M_PI*10/180)->aA;
auto aApP = std::make_shared<EulerParameters<double>>(rotAxis, M_PI*10/180)->aA;
auto solver = std::make_shared<MomentOfInertiaSolver>();
solver->setm(4.0);
solver->setJPP(aJpp);
@@ -350,7 +350,7 @@ void MbD::MomentOfInertiaSolver::calcJppFromFullJcmP()
auto q = (c + (2.0 * aDiv3 * aDiv3 * aDiv3) - (aDiv3 * b)) / 2.0;
auto phiDiv3 = modifiedArcCos(-q / std::sqrt(-p * p * p)) / 3.0;
auto twoSqrtMinusp = 2.0 * std::sqrt(-p);
auto piDiv3 = OS_M_PI / 3.0;
auto piDiv3 = M_PI / 3.0;
auto sortedJ = std::make_shared<DiagonalMatrix<double>>();
sortedJ->push_back(twoSqrtMinusp * std::cos(phiDiv3));
sortedJ->push_back(twoSqrtMinusp * -std::cos(phiDiv3 + piDiv3));
@@ -392,7 +392,7 @@ double MbD::MomentOfInertiaSolver::modifiedArcCos(double val)
}
else {
if (val < -1.0) {
return OS_M_PI;
return M_PI;
}
else {
return std::acos(val);

3
OndselSolver/Numeric.cpp
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@@ -7,7 +7,6 @@
***************************************************************************/
#include <cmath>
#include "corecrt_math_defines.h"
#include <stdexcept>
#include "Numeric.h"
@@ -25,7 +24,7 @@ double MbD::Numeric::arcTan0to2piYoverX(double y, double x)
}
else {
//"Third and forth quadrants."
return 2.0 * OS_M_PI + std::atan2(y, x);
return 2.0 * M_PI + std::atan2(y, x);
}
}

4
OndselSolver/OrbitAngleZIecJec.cpp
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@@ -6,7 +6,7 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "corecrt_math_defines.h"
#include <cmath>
#include "OrbitAngleZIecJec.h"
#include "Numeric.h"
@@ -29,7 +29,7 @@ void MbD::OrbitAngleZIecJec::calcPostDynCorrectorIteration()
auto diffOfSquares = y * y - (x * x);
auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
auto thez0to2pi = Numeric::arcTan0to2piYoverX(y, x);
thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
thez = std::round((thez - thez0to2pi) / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
cosOverSSq = x / sumOfSquares;
sinOverSSq = y / sumOfSquares;
twoCosSinOverSSqSq = 2.0 * x * y / sumOfSquaresSquared;

6
OndselSolver/ScrewConstraintIJ.cpp
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@@ -6,7 +6,7 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "corecrt_math_defines.h"
#include <cmath>
#include "ScrewConstraintIJ.h"
#include "ScrewConstraintIqcJqc.h"
@@ -32,7 +32,7 @@ void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()
{
auto z = zIeJeIe->value();
auto thez = thezIeJe->thez;
aG = (2.0 * OS_M_PI * z) - (pitch * thez) - aConstant;
aG = (2.0 * M_PI * z) - (pitch * thez) - aConstant;
}
void MbD::ScrewConstraintIJ::init_zthez()
@@ -73,7 +73,7 @@ void MbD::ScrewConstraintIJ::postInput()
zIeJeIe->postInput();
thezIeJe->postInput();
if (aConstant == std::numeric_limits<double>::min()) {
aConstant = (2.0 * OS_M_PI * zIeJeIe->value()) - (thezIeJe->value() * pitch);
aConstant = (2.0 * M_PI * zIeJeIe->value()) - (thezIeJe->value() * pitch);
}
ConstraintIJ::postInput();
}

10
OndselSolver/ScrewConstraintIqcJc.cpp
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@@ -6,7 +6,7 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "corecrt_math_defines.h"
#include <cmath>
#include "ScrewConstraintIqcJc.h"
#include "EndFrameqc.h"
@@ -59,23 +59,23 @@ void MbD::ScrewConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
void MbD::ScrewConstraintIqcJc::calc_pGpEI()
{
pGpEI = zIeJeIe->pvaluepEI()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepEI()->times(pitch));
pGpEI = zIeJeIe->pvaluepEI()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepEI()->times(pitch));
}
void MbD::ScrewConstraintIqcJc::calc_pGpXI()
{
pGpXI = zIeJeIe->pvaluepXI()->times(2.0 * OS_M_PI);
pGpXI = zIeJeIe->pvaluepXI()->times(2.0 * M_PI);
}
void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI()
{
ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * OS_M_PI)
ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * M_PI)
->minusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitch));
}
void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI()
{
ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI);
ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * M_PI);
}
void MbD::ScrewConstraintIqcJc::calcPostDynCorrectorIteration()

12
OndselSolver/ScrewConstraintIqcJqc.cpp
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@@ -6,7 +6,7 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "corecrt_math_defines.h"
#include <cmath>
#include "ScrewConstraintIqcJqc.h"
#include "EndFrameqc.h"
@@ -37,28 +37,28 @@ void MbD::ScrewConstraintIqcJqc::initthezIeJe()
void MbD::ScrewConstraintIqcJqc::calc_pGpEJ()
{
pGpEJ = zIeJeIe->pvaluepEJ()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepEJ()->times(pitch));
pGpEJ = zIeJeIe->pvaluepEJ()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepEJ()->times(pitch));
}
void MbD::ScrewConstraintIqcJqc::calc_pGpXJ()
{
pGpXJ = zIeJeIe->pvaluepXJ()->times(2.0 * OS_M_PI);
pGpXJ = zIeJeIe->pvaluepXJ()->times(2.0 * M_PI);
}
void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpEJ()
{
ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * OS_M_PI)
ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * M_PI)
->minusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitch));
}
void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpXJ()
{
ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * OS_M_PI);
ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * M_PI);
}
void MbD::ScrewConstraintIqcJqc::calc_ppGpEJpEJ()
{
ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * OS_M_PI)
ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * M_PI)
->minusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitch));
}

4
OndselSolver/SymbolicParser.cpp
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@@ -6,7 +6,7 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "corecrt_math_defines.h"
#include <cmath>
#include <sstream>
#include <iomanip>
#include <algorithm>
@@ -339,7 +339,7 @@ bool MbD::SymbolicParser::constant()
return true;
}
if (peekForTypevalue("word", "pi")) {
auto symconst = std::make_shared<Constant>(OS_M_PI);
auto symconst = std::make_shared<Constant>(M_PI);
stack->push(symconst);
return true;
}

30
OndselSolver/corecrt_math_defines.h
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@@ -1,30 +0,0 @@
//
// corecrt_math_defines.h
//
// Copyright (c) Microsoft Corporation. All rights reserved.
//
// Definitions of useful mathematical constants
//
#pragma once
#ifndef _MATH_DEFINES_DEFINED
#define _MATH_DEFINES_DEFINED
// Definitions of useful mathematical constants
//
// Define _USE_MATH_DEFINES before including <math.h> to expose these macro
// definitions for common math constants. These are placed under an #ifdef
// since these commonly-defined names are not part of the C or C++ standards
// #define M_E 2.71828182845904523536 // e
// #define M_LOG2E 1.44269504088896340736 // log2(e)
// #define M_LOG10E 0.434294481903251827651 // log10(e)
// #define M_LN2 0.693147180559945309417 // ln(2)
// #define M_LN10 2.30258509299404568402 // ln(10)
#define OS_M_PI 3.14159265358979323846264338327950288 // pi
// #define M_PI_2 1.57079632679489661923 // pi/2
// #define M_PI_4 0.785398163397448309616 // pi/4
// #define M_1_PI 0.318309886183790671538 // 1/pi
// #define M_2_PI 0.636619772367581343076 // 2/pi
#define OS_M_2_SQRTPI 1.12837916709551257389615890312154517 // 2/sqrt(pi)
#define OS_M_SQRT2 1.41421356237309504880168872420969808 // sqrt(2)
// #define M_SQRT1_2 0.707106781186547524401 // 1/sqrt(2)
#endif