mymath.h

本人s12的一部分机器人巡线程序

/*****************************************************

   math.h - ANSI-C library: mathematical functions
 ----------------------------------------------------
   Copyright (c) Metrowerks, Basel, Switzerland
               All rights reserved
                  Do not modify!
 *****************************************************/

#ifndef _H_MYMATH_
#define _H_MYMATH_


  #define HUGE_VAL  infinity.f

/* Constants */
#define _M_PI      3.14159265358979323846   /* pi         */
#define _M_1PI     0.31830988618379067154   /* 1 / pi     */
#define _M_2PI     6.28318530717958647692   /* 2 * pi     */
#define _M_PI2     1.57079632679489661923   /* pi / 2     */
#define _M_S1_2    0.70710678118654752440   /* sqrt (0.5) */
#define _M_LOGE    0.43429448190325182765   /* log10 (e)  */

#define _M_EPS     1.053671213e-8
#define _M_EXP_MAX 709.7877


/**** Trigonometric functions */

extern double cos     (double x);
extern double cosh    (double x);
extern double sin     (double x);
extern double sinh    (double x);
extern double tan     (double x);
extern double tanh    (double x);

/**** Inverse trigonometric functions */

extern double asin(double x);
extern double acos(double x);

extern double atan    (double x);
extern double atan2   (double y,double x);  /* atan (y/x) */

/**** Exponential and logarithmic functions */

extern double log10   (double x);           /* logarithm of base 10       */

extern double exp     (double x);           /* e**x */
extern double log     (double x);           /* natural logarithm (base e) */

/**** Square root */

extern double pow     (double x, double y);   /* x**y */
extern double sqrt    (double x);

/**** Other functions */

extern double ceil    (double x);             /* smallest integral number >= x */
extern double floor   (double x);             /* largest integral number <= x  */

extern double fabs    (double x);             /* absolute value of x */
extern double fmod   (double x, double y);
   /* doubleing point remainder */

/**** System internal functions */

extern double sincos  (double,int,int);
extern double sncsh   (double,int);
extern double sqrt_r (double);
extern double pow_i  (double, int);
extern double exp_r  (double);
extern double log_r  (double);

/*****************************************************************************/
/* float routines                                                            */
/*****************************************************************************/

/**** Trigonometric functions */

extern float cosf     (float x);
extern float coshf    (float x);
extern float sinf     (float x);
extern float sinhf    (float x);
extern float tanf     (float x);
extern float tanhf    (float x);

/**** Inverse trigonometric functions */

extern float asinf(float x);
extern float acosf(float x);

extern float atanf    (float x);
extern float atan2f   (float y,float x);    /* atan (y/x) */

/**** Exponential and logarithmic functions */

extern float log10f   (float x);           /* logarithm of base 10       */

extern float expf     (float x);           /* e**x */
extern float logf     (float x);           /* natural logarithm (base e) */

/**** Square root */

extern float powf     (float x, float y);   /* x**y */
extern float sqrtf    (float x);

/**** Other functions */

extern float ceilf    (float x);             /* smallest integral number >= x */
extern float floorf   (float x);             /* largest integral number <= x  */

extern float fabsf    (float x);             /* absolute value of x */
extern float fmodf    (float x, float y);
   /* floating point remainder */

/**** System internal functions */

extern float sincosf  (float,int,int);
extern float sncshf   (float,int);
extern float sqrtf_r (float);
extern float powf_i  (float, int);
extern float expf_r  (float);
extern float logf_r  (float);

/*****************************************************/
/* end math.h */
#endif