Added build types and changed sin implementation for compiler optimiz…

…ation friendly
Shobuj-Paul · Feb 18, 2024 · f585293 · f585293
1 parent a6f3e5f
commit f585293
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Showing 4 changed files with 11 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,6 +5,8 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -g")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O3")
 
 include(CTest)
 enable_testing()

diff --git a/build.sh b/build.sh
@@ -35,7 +35,7 @@ fi
 cd ${BUILD_DIR}
 
 # Configure and build the project.
-cmake ..
+cmake .. -DCMAKE_BUILD_TYPE=Release
 make -j4
 
 # If make completes successfully, run ctest

diff --git a/src/math/cordic.cpp b/src/math/cordic.cpp
@@ -3,12 +3,12 @@
 CORDIC::Trig CORDIC::trig(int angle)
 {
   int32_t atan2[14] = { 8192, 4836, 2555, 1297, 651, 325, 162, 81, 40, 20, 10, 5, 2, 1 };
-  int32_t x = 9949, y = 0, theta = 0;
+  int32_t x = 9949, y = 0, theta = 0, sigma, nx;
   for (int32_t i = 0; i < 14; i++)
   {
-    int32_t sigma = (theta < angle) ? 1 : -1;
+    sigma = (theta < angle) ? 1 : -1;
     theta = theta + sigma * atan2[i];
-    int32_t nx = x - sigma * (y >> i);
+    nx = x - sigma * (y >> i);
     y = y + sigma * (x >> i);
     x = nx;
   }

diff --git a/src/math/functions.cpp b/src/math/functions.cpp
@@ -32,7 +32,11 @@ float math::sin(float angle)
     angle = PI - angle;
   else if (angle < -PI / 2)
     angle = -PI - angle;
-  return (angle - pow(angle, 3) / 6 + pow(angle, 5) / 120 - pow(angle, 7) / 5040);
+  float pow_2 = angle * angle;
+  float pow_3 = pow_2 * angle;
+  float pow_5 = pow_3 * pow_2;
+  float pow_7 = pow_5 * pow_2;
+  return (angle - pow_3 * 0.1667 + pow_5 * 0.008333 - pow_7 * 0.0001984);
 }
 
 float math::cos(float angle)