diff options
| author | GO63-samara <go1@list.ru> | 2020-04-28 22:13:55 +0400 |
|---|---|---|
| committer | GO63-samara <go1@list.ru> | 2020-04-28 22:13:55 +0400 |
| commit | 48e1c8a5a41449e4b9291954964188fad9dfd248 (patch) | |
| tree | d5b0e339cdc03fb6d6b28adce84ea3b37a34be0b /filter-accela | |
| parent | 7252c00161959b3b7ce9d78506ec6cf026f24d5e (diff) | |
fix sintax
replacing define with static constexpr double and replacing a tab with a space
Diffstat (limited to 'filter-accela')
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index 2059d7f9..b70f08cf 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -64,8 +64,9 @@ static void do_deltas(const double* deltas, double* output, F&& fun) void accela::filter(const double* input, double *output) { -#define FULL_TURN 360.0 -#define HALF_TURN 180.0 + static constexpr double full_turn = 360.0; + static constexpr double half_turn = 180.0; + if (unlikely(first_run)) { first_run = false; @@ -100,7 +101,7 @@ void accela::filter(const double* input, double *output) for (unsigned i = 3; i < 6; i++) { double d = input[i] - last_output[i]; - if (fabs(d) > HALF_TURN) d -= copysign(FULL_TURN, d); + if (fabs(d) > half_turn) d -= copysign(full_turn, d); if (fabs(d) > rot_dz) d -= copysign(rot_dz, d); @@ -137,7 +138,7 @@ void accela::filter(const double* input, double *output) { output[k] *= dt; output[k] += last_output[k]; - if (fabs(output[k]) > HALF_TURN) output[k] -= copysign(FULL_TURN, output[k]); + if (fabs(output[k]) > half_turn) output[k] -= copysign(full_turn, output[k]); last_output[k] = output[k]; } |