[wpimath] Update to gcem 1.17.0 (#5575)

wpilibsuite · Aug 28, 2023 · 0d2d989 · 0d2d989
1 parent cf86af7
commit 0d2d989
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Showing 66 changed files with 163 additions and 86 deletions.
diff --git a/upstream_utils/update_gcem.py b/upstream_utils/update_gcem.py
@@ -13,7 +13,7 @@
 
 
 def main():
-    upstream_root = clone_repo("https://github.com/kthohr/gcem.git", "v1.16.0")
+    upstream_root = clone_repo("https://github.com/kthohr/gcem.git", "v1.17.0")
     wpilib_root = get_repo_root()
     wpimath = os.path.join(wpilib_root, "wpimath")
 

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf_inv.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf_inv.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/exp.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/exp.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -28,6 +28,30 @@
 namespace internal
 {
 
+// see https://en.wikipedia.org/wiki/Euler%27s_continued_fraction_formula
+
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+exp_cf_recur(const T x, const int depth_end)
+noexcept
+{
+    int depth = GCEM_EXP_MAX_ITER_SMALL - 1;
+    T res = T(1);
+
+    while (depth > depth_end - 1) {
+        res = T(1) + x/T(depth - 1) - x/depth/res;
+
+        --depth;
+    }
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
@@ -36,20 +60,20 @@ noexcept
 {
     return( depth < GCEM_EXP_MAX_ITER_SMALL ? \
             // if
-                depth == 1 ? \
-                    T(1) - x/exp_cf_recur(x,depth+1) : 
-                    T(1) + x/T(depth - 1) - x/depth/exp_cf_recur(x,depth+1) : 
+                T(1) + x/T(depth - 1) - x/depth/exp_cf_recur(x,depth+1) : 
              // else
                 T(1) );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T
 exp_cf(const T x)
 noexcept
 {
-    return( T(1)/exp_cf_recur(x,1) );
+    return( T(1) / (T(1) - x / exp_cf_recur(x,2)) );
 }
 
 template<typename T>
@@ -72,7 +96,7 @@ noexcept
             //
             is_neginf(x) ? \
                 T(0) :
-            //
+            // indistinguishable from zero
             GCLIM<T>::min() > abs(x) ? \
                 T(1) : 
             //

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/expm1.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/expm1.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/factorial.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/factorial.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_exponent.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_exponent.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -34,10 +34,20 @@ llint_t
 find_exponent(const T x, const llint_t exponent)
 noexcept
 {
-    return( x < T(1)  ? \
-                find_exponent(x*T(10),exponent - llint_t(1)) :
+    return( // < 1
+            x < T(1e-03)  ? \
+                find_exponent(x * T(1e+04), exponent - llint_t(4)) :
+            x < T(1e-01)  ? \
+                find_exponent(x * T(1e+02), exponent - llint_t(2)) :
+            x < T(1)  ? \
+                find_exponent(x * T(10), exponent - llint_t(1)) :
+            // > 10
             x > T(10) ? \
-                find_exponent(x/T(10),exponent + llint_t(1)) :
+                find_exponent(x / T(10), exponent + llint_t(1)) :
+            x > T(1e+02) ? \
+                find_exponent(x / T(1e+02), exponent + llint_t(2)) :
+            x > T(1e+04) ? \
+                find_exponent(x / T(1e+04), exponent + llint_t(4)) :
             // else
                 exponent );
 }

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_fraction.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_fraction.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_whole.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_whole.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/floor.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/floor.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/fmod.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/fmod.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcd.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcd.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcem_options.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcem_options.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -53,7 +53,7 @@
 #endif
 
 #ifndef GCEM_VERSION_MINOR
-    #define GCEM_VERSION_MINOR 16
+    #define GCEM_VERSION_MINOR 17
 #endif
 
 #ifndef GCEM_VERSION_PATCH

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/hypot.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/hypot.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta_inv.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta_inv.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma_inv.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma_inv.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/inv_sqrt.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/inv_sqrt.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_even.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_even.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_finite.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_finite.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##

diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_inf.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_inf.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##