text: /****************************************************************************
   *
   *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file Limits.cpp
   *
   * Limiting / constrain helper functions
   */
  
  
  #include <math.h>
  #include <stdint.h>
  
  #include "Limits.hpp"
  
  
  namespace math {
  
  
  float __EXPORT min(float val1, float val2)
  {
  	return (val1 < val2) ? val1 : val2;
  }
  
  int __EXPORT min(int val1, int val2)
  {
  	return (val1 < val2) ? val1 : val2;
  }
  
  unsigned __EXPORT min(unsigned val1, unsigned val2)
  {
  	return (val1 < val2) ? val1 : val2;
  }
  
  uint64_t __EXPORT min(uint64_t val1, uint64_t val2)
  {
  	return (val1 < val2) ? val1 : val2;
  }
  
  double __EXPORT min(double val1, double val2)
  {
  	return (val1 < val2) ? val1 : val2;
  }
  
  float __EXPORT max(float val1, float val2)
  {
  	return (val1 > val2) ? val1 : val2;
  }
  
  int __EXPORT max(int val1, int val2)
  {
  	return (val1 > val2) ? val1 : val2;
  }
  
  unsigned __EXPORT max(unsigned val1, unsigned val2)
  {
  	return (val1 > val2) ? val1 : val2;
  }
  
  uint64_t __EXPORT max(uint64_t val1, uint64_t val2)
  {
  	return (val1 > val2) ? val1 : val2;
  }
  
  double __EXPORT max(double val1, double val2)
  {
  	return (val1 > val2) ? val1 : val2;
  }
  
  
  float __EXPORT constrain(float val, float min, float max)
  {
  	return (val < min) ? min : ((val > max) ? max : val);
  }
  
  int __EXPORT constrain(int val, int min, int max)
  {
  	return (val < min) ? min : ((val > max) ? max : val);
  }
  
  unsigned __EXPORT constrain(unsigned val, unsigned min, unsigned max)
  {
  	return (val < min) ? min : ((val > max) ? max : val);
  }
  
  uint64_t __EXPORT constrain(uint64_t val, uint64_t min, uint64_t max)
  {
  	return (val < min) ? min : ((val > max) ? max : val);
  }
  
  double __EXPORT constrain(double val, double min, double max)
  {
  	return (val < min) ? min : ((val > max) ? max : val);
  }
  
  float __EXPORT radians(float degrees)
  {
  	return (degrees / 180.0f) * M_PI_F;
  }
  
  double __EXPORT radians(double degrees)
  {
  	return (degrees / 180.0) * M_PI;
  }
  
  float __EXPORT degrees(float radians)
  {
  	return (radians / M_PI_F) * 180.0f;
  }
  
  double __EXPORT degrees(double radians)
  {
  	return (radians / M_PI) * 180.0;
  }
  
  }