From e016dca372bf69f3bb4967a8aba374bc04aea3b4 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 16 Jul 2017 16:57:59 +0200
Subject: compat/math-imports: use it

---
 compat/euler.cpp        | 10 +---------
 compat/math-imports.hpp | 23 +++++++++++++----------
 2 files changed, 14 insertions(+), 19 deletions(-)

(limited to 'compat')

diff --git a/compat/euler.cpp b/compat/euler.cpp
index f02365c9..a868478e 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -1,13 +1,11 @@
 #include "euler.hpp"
+#include "math-imports.hpp"
 #include <cmath>
 
 namespace euler {
 
 euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R)
 {
-    using std::atan2;
-    using std::sqrt;
-
     const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
     const bool large_enough = cy > 1e-10;
     if (large_enough)
@@ -31,9 +29,6 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
     const double P = -input(1);
     const double B = -input(2);
 
-    using std::cos;
-    using std::sin;
-
     const auto c1 = cos(H);
     const auto s1 = sin(H);
     const auto c2 = cos(P);
@@ -63,9 +58,6 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
                                                     rmat& r_pitch,
                                                     rmat& r_yaw)
 {
-    using std::cos;
-    using std::sin;
-
     {
         const double phi = -input(2);
         const double sin_phi = sin(phi);
diff --git a/compat/math-imports.hpp b/compat/math-imports.hpp
index ad70f361..e4175b16 100644
--- a/compat/math-imports.hpp
+++ b/compat/math-imports.hpp
@@ -1,10 +1,12 @@
 #pragma once
 
-#include <cmath>
-#include <cinttypes>
-
-namespace otr_math
+template <typename T>
+static inline constexpr auto signum(T x)
 {
+    return (T() < x) - (x < T());
+}
+
+#include <cmath>
 
 using std::copysign;
 
@@ -27,19 +29,20 @@ using std::tan;
 using std::round;
 using std::fmod;
 
+#include <cinttypes>
+
 using std::uintptr_t;
 using std::intptr_t;
 
 using std::int64_t;
 using std::int32_t;
+using std::int8_t;
 
 using std::uint64_t;
 using std::uint32_t;
+using std::uint8_t;
 
-template <typename T>
-static inline constexpr auto signum(T x)
-{
-    return (T() < x) - (x < T());
-}
+#include <algorithm>
 
-} // ns otr_math
+using std::min;
+using std::max;
-- 
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