Open dpgeorge opened 1 year ago
One should never call sin (x) or cos(x) with |x| greater than 128! And code for sin(x) and cos(x) should take advantage of trigonometric identities to reduce the range of the argument. See https://realtimecollisiondetection.net/blog/?p=9, for example. The graph tells me the code may have range reduction but it's broken.
it is indeed broken ;-) oops.
@kilograham did you intend to close this?
nope (wrong button)
When using single precision float,
sin(x)
andcos(x)
(and possiblysincos
andtan
) are accurate for|x| < 128
(here,|x|
means absolute value ofx
) but show increasing error as|x|
grows beyond 128.Here is a plot of the error of
sin(x)
as a function ofx
(compared to the single-precision float musl implementation ofsin
):You can see that the error grows linearly beyond -128 / +128.
Looking at the code, there's a wrapper function that reduces the argument down to within +/- 128 and then calls the ROM code: https://github.com/raspberrypi/pico-sdk/blob/master/src/rp2_common/pico_float/float_aeabi.S#L637-L664 . That reduction is probably introducing a small floating point error for each loop of the reduction (that's a guess, I did not investigate further).
(Note: this was found running MicroPython's
tests/float/cmath_fun.py
test, which fails on a Pico board due to the above problem.)