math_functs.h

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// ----------------------------------------------------------------------------
// EXTRA MATH FUNCTIONS
// 
// Code By: Michael Wrona | B.S. Aerospace Engineering
// Created: 
// ----------------------------------------------------------------------------
#pragma once
 
#include <Arduino.h>
#include <math.h>
#include <float.h>
#include "constants.h"
#include "hummingbird_config.h"
 
 
float InvSqrtf(float num);  // Used for normalizing
 
template <typename T>
T RangeConstrain(const T val, const T lower, const T upper);  // Constrain value to a range
 
template <typename T>
float sqrtf_safe(const T val);  // Check for computational errors in sqrt
 
template <typename T>
float asinf_safe(const T val);  // Take arcsine with checks
 
// template <typename T>
// float acosf_safe(const T val);  // Take arccosine with checks