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feat(tier4_autoware_utils): faster sin and cos #7120

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May 27, 2024
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Original file line number Diff line number Diff line change
Expand Up @@ -15,13 +15,17 @@
#ifndef TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
#define TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_

#include <utility>

namespace tier4_autoware_utils
{

float sin(float radian);

float cos(float radian);

std::pair<float, float> sin_and_cos(float radian);

} // namespace tier4_autoware_utils

#endif // TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
23 changes: 23 additions & 0 deletions common/tier4_autoware_utils/src/math/trigonometry.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -49,4 +49,27 @@ float cos(float radian)
return sin(radian + static_cast<float>(tier4_autoware_utils::pi) / 2.f);
}

std::pair<float, float> sin_and_cos(float radian)
{
constexpr float tmp =
(180.f / static_cast<float>(tier4_autoware_utils::pi)) * (discrete_arcs_num_360 / 360.f);
const float degree = radian * tmp;
size_t idx =
(static_cast<int>(std::round(degree)) % discrete_arcs_num_360 + discrete_arcs_num_360) %
discrete_arcs_num_360;

if (idx < discrete_arcs_num_90) {
return {g_sin_table[idx], g_sin_table[discrete_arcs_num_90 - idx]};
} else if (discrete_arcs_num_90 <= idx && idx < 2 * discrete_arcs_num_90) {
idx = 2 * discrete_arcs_num_90 - idx;
return {g_sin_table[idx], -g_sin_table[discrete_arcs_num_90 - idx]};
} else if (2 * discrete_arcs_num_90 <= idx && idx < 3 * discrete_arcs_num_90) {
idx = idx - 2 * discrete_arcs_num_90;
return {-g_sin_table[idx], -g_sin_table[discrete_arcs_num_90 - idx]};
} else { // 3 * discrete_arcs_num_90 <= idx && idx < 4 * discrete_arcs_num_90
idx = 4 * discrete_arcs_num_90 - idx;
return {-g_sin_table[idx], g_sin_table[discrete_arcs_num_90 - idx]};
}
}

} // namespace tier4_autoware_utils
10 changes: 10 additions & 0 deletions common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -40,3 +40,13 @@ TEST(trigonometry, cos)
tier4_autoware_utils::cos(x * static_cast<float>(i))) < 10e-5);
}
}

TEST(trigonometry, sin_and_cos)
{
float x = 4.f * tier4_autoware_utils::pi / 128.f;
for (int i = 0; i < 128; i++) {
const auto sin_and_cos = tier4_autoware_utils::sin_and_cos(x * static_cast<float>(i));
EXPECT_TRUE(std::abs(std::sin(x * static_cast<float>(i)) - sin_and_cos.first) < 10e-7);
EXPECT_TRUE(std::abs(std::cos(x * static_cast<float>(i)) - sin_and_cos.second) < 10e-7);
}
}
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