diff options
Diffstat (limited to 'tools/lighthousefind_tori/torus_localizer.c')
| -rw-r--r-- | tools/lighthousefind_tori/torus_localizer.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/tools/lighthousefind_tori/torus_localizer.c b/tools/lighthousefind_tori/torus_localizer.c index 837b745..c539fb5 100644 --- a/tools/lighthousefind_tori/torus_localizer.c +++ b/tools/lighthousefind_tori/torus_localizer.c @@ -122,7 +122,7 @@ void partialTorusGenerator( toroidalRadius = distanceBetweenPoints / (2 * tan(lighthouseAngle)); - poloidalRadius = sqrt(pow(toroidalRadius, 2) + pow(distanceBetweenPoints / 2, 2)); + poloidalRadius = sqrt(SQUARED(toroidalRadius) + SQUARED(distanceBetweenPoints / 2)); double poloidalPrecision = M_PI * 2 / toroidalPrecision; @@ -291,7 +291,7 @@ void estimateToroidalAndPoloidalAngleOfPoint( // I stole these lines from the torus generator. Gonna need the poloidal radius. double distanceBetweenPoints = distance(torusP1, torusP2); // we don't care about the coordinate system of these points because we're just getting distance. double toroidalRadius = distanceBetweenPoints / (2 * tan(lighthouseAngle)); - double poloidalRadius = sqrt(pow(toroidalRadius, 2) + pow(distanceBetweenPoints / 2, 2)); + double poloidalRadius = sqrt(SQUARED(toroidalRadius) + SQUARED(distanceBetweenPoints / 2)); // The center of the polidal circle already lies on the z axis at this point, so we won't shift z at all. // The shift along the X axis will be the toroidal radius. @@ -533,7 +533,7 @@ Point calculateTorusPointFromAngles(PointsAndAngle *pna, double toroidalAngle, d Matrix3x3 rot = GetRotationMatrixForTorus(pna->a, pna->b); double toroidalRadius = distanceBetweenPoints / (2 * tan(pna->angle)); - double poloidalRadius = sqrt(pow(toroidalRadius, 2) + pow(distanceBetweenPoints / 2, 2)); + double poloidalRadius = sqrt(SQUARED(toroidalRadius) + SQUARED(distanceBetweenPoints / 2)); result.x = (toroidalRadius + poloidalRadius*cos(poloidalAngle))*cos(toroidalAngle); result.y = (toroidalRadius + poloidalRadius*cos(poloidalAngle))*sin(toroidalAngle); @@ -808,7 +808,7 @@ void AnalyzeToroidalImpact( toroidalRadius = distanceBetweenPoints / (2 * tan(lighthouseAngle)); - poloidalRadius = sqrt(pow(toroidalRadius, 2) + pow(distanceBetweenPoints / 2, 2)); + poloidalRadius = sqrt(SQUARED(toroidalRadius) + SQUARED(distanceBetweenPoints / 2)); unsigned int pointCount = 0; |