matlab_helpers.h

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//=================================================================================================
// Copyright (c) 2012-2016, Institute of Flight Systems and Automatic Control,
// Technische Universität Darmstadt.
// All rights reserved.

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#ifndef HECTOR_QUADROTOR_MODEL_MATLAB_HELPERS_H
#define HECTOR_QUADROTOR_MODEL_MATLAB_HELPERS_H

#include <limits>
#include <cmath>

typedef double real_T;
typedef uint32_t int32_T;
typedef bool boolean_T;

static const real_T rtInf = std::numeric_limits<real_T>::infinity();
static inline boolean_T rtIsInf(real_T value)
{
  return std::isinf(value);
}

static const real_T rtNaN = std::numeric_limits<real_T>::quiet_NaN();
static inline boolean_T rtIsNaN(real_T value)
{
  return std::isnan(value);
}

static real_T rt_powd_snf(real_T u0, real_T u1)
{
  real_T y;
  real_T d0;
  real_T d1;
  if (rtIsNaN(u0) || rtIsNaN(u1)) {
    y = rtNaN;
  } else {
    d0 = fabs(u0);
    d1 = fabs(u1);
    if (rtIsInf(u1)) {
      if (d0 == 1.0) {
        y = rtNaN;
      } else if (d0 > 1.0) {
        if (u1 > 0.0) {
          y = rtInf;
        } else {
          y = 0.0;
        }
      } else if (u1 > 0.0) {
        y = 0.0;
      } else {
        y = rtInf;
      }
    } else if (d1 == 0.0) {
      y = 1.0;
    } else if (d1 == 1.0) {
      if (u1 > 0.0) {
        y = u0;
      } else {
        y = 1.0 / u0;
      }
    } else if (u1 == 2.0) {
      y = u0 * u0;
    } else if ((u1 == 0.5) && (u0 >= 0.0)) {
      y = sqrt(u0);
    } else if ((u0 < 0.0) && (u1 > floor(u1))) {
      y = rtNaN;
    } else {
      y = pow(u0, u1);
    }
  }

  return y;
}

#endif // HECTOR_QUADROTOR_MODEL_MATLAB_HELPERS_H