spatial-math 0.4.0.0 → 0.5.0.0

raw patch · 5 files changed

+82/−7 lines, 5 filesnew-uploader

Files

• changelog.txt +4/−0
• spatial-math.cabal +2/−1
• src/SpatialMath.hs +50/−5
• src/SpatialMath/Internal.hs +25/−0
• src/SpatialMathT.hs +1/−1

@@ -1,3 +1,7 @@+0.5.0+- Replace calls to Prelude's `atan2` function with calls to the C math+  library in `ArcTan2` instances for `Float` and `Double`+ 0.4.0 - Switch quat2dcm mode to avoid divide by 0, add Ord constraint 

@@ -1,5 +1,5 @@ name:                spatial-math-version:             0.4.0.0+version:             0.5.0.0 synopsis:            3d math including quaternions/euler angles/dcms and utility functions description:         This is a port of my 'mathlib' C library: `https://github.com/ghorn/mathlib` license:             BSD3@@ -18,6 +18,7 @@   hs-source-dirs:      src   exposed-modules:     SpatialMath                        SpatialMathT+                       SpatialMath.Internal   other-modules:       Types   build-depends:       base >= 4 && < 5,                        ghc-prim,

@@ -33,11 +33,7 @@  import Types --- | doesn't require RealFloat, used for overloading symbolics-class Floating a => ArcTan2 a where-  arctan2 :: a -> a -> a-instance ArcTan2 Double where arctan2 = atan2-instance ArcTan2 Float where arctan2 = atan2+import SpatialMath.Internal ( libm_atan2, libm_atan2f )  -- $setup -- |@@ -50,7 +46,56 @@ --               | nearZero (x - 1) = 1 --               | nearZero (x + 1) = -1 --               | otherwise = x+--         inf = 1/0+--         neginf = negate inf -- :}+++-- | doesn't require RealFloat, used for overloading symbolics+class Floating a => ArcTan2 a where+  -- | @arctan2 y x@ computes the arctangent from two arguments.  The+  -- 'Double' and 'Float' instances call out to a sufficiently recent+  -- version of @libm@ to compute this.+  --+  -- The following test cases are the /full/ set of recommended+  -- function properties specified for function @atan2Pi()@ on page 45+  -- of the IEEE Std 754-2008 document.+  --+  -- >>> arctan2 0 (-0) :: Double+  -- 3.141592653589793+  -- >>> arctan2 (-0) (-0) :: Double+  -- -3.141592653589793+  -- >>> arctan2 0 0 :: Double+  -- 0.0+  -- >>> arctan2 (-0) 0 :: Double+  -- -0.0+  --+  -- prop> \x -> x < 0 ==> arctan2 (-0) x == (-pi :: Double)+  -- prop> \x -> x < 0 ==> arctan2 0 x == (pi :: Double)+  -- prop> \x -> x > 0 ==> arctan2 (-0) x == (-0 :: Double)+  -- prop> \x -> x > 0 ==> arctan2 0 x == (0 :: Double)+  -- prop> \y -> y < 0 ==> arctan2 y (-0) == (-pi / 2 :: Double)+  -- prop> \y -> y > 0 ==> arctan2 y 0 == (pi / 2 :: Double)+  -- prop> \y -> y > 0 && not (isNaN y || isInfinite y) ==> arctan2 y (negate $ 1/0) == (pi :: Double)+  -- prop> \y -> y < 0 && not (isNaN y || isInfinite y) ==> arctan2 y (negate $ 1/0) == (-pi :: Double)+  -- prop> \y -> y > 0 && not (isNaN y || isInfinite y) ==> arctan2 y (1/0) == (0 :: Double)+  -- prop> \y -> y < 0 && not (isNaN y || isInfinite y) ==> arctan2 y (1/0) == (-0 :: Double)+  -- prop> \x -> not (isNaN x || isInfinite x) ==> arctan2 (negate $ 1/0) x == (-pi/2 :: Double)+  -- prop> \x -> not (isNaN x || isInfinite x) ==> arctan2 (1/0) x == (pi/2 :: Double)+  --+  -- >>> arctan2 neginf neginf :: Double+  -- -2.356194490192345+  -- >>> arctan2 inf neginf :: Double+  -- 2.356194490192345+  -- >>> arctan2 neginf inf :: Double+  -- -0.7853981633974483+  -- >>> arctan2 inf inf :: Double+  -- 0.7853981633974483+  arctan2 :: a -> a -> a+instance ArcTan2 Double where+  arctan2 = libm_atan2+instance ArcTan2 Float where+  arctan2 = libm_atan2f  normalize' :: Floating a => Quaternion a -> Quaternion a normalize' q = fmap (* normInv) q

@@ -0,0 +1,25 @@+{-# OPTIONS_GHC -Wall #-}+{-# Language ForeignFunctionInterface #-}++module SpatialMath.Internal (+  libm_atan2+  , libm_atan2f+  ) where++import Foreign.C.Types ( CDouble(..), CFloat(..) )++foreign import ccall unsafe "math.h atan2" c_atan2+  :: CDouble -> CDouble -> CDouble++foreign import ccall unsafe "math.h atan2f" c_atan2f+  :: CFloat -> CFloat -> CFloat++libm_atan2 :: Double -> Double -> Double+libm_atan2 y x = ret+  where+    CDouble ret = c_atan2 (CDouble y) (CDouble x)++libm_atan2f :: Float -> Float -> Float+libm_atan2f y x = ret+  where+    CFloat ret = c_atan2f (CFloat y) (CFloat x)

@@ -31,7 +31,7 @@        , (:.)(..), unO        ) where -import Control.Applicative ( Applicative )+import Control.Applicative ( Applicative, pure) import Control.Compose ( (:.)(..), unO ) import Data.Foldable ( Foldable ) import Data.Binary ( Binary(..) )