/usr/include/kdl/utilities/utility.h is in liborocos-kdl-dev 1.3.0+dfsg-1.
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* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* ORO_Geometry V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: utility.h,v 1.1.1.1.2.4 2003/07/18 14:58:36 psoetens Exp $
* $Name: $
* \file
* Included by most lrl-files to provide some general
* functions and macro definitions.
*
* \par history
* - changed layout of the comments to accomodate doxygen
*/
#ifndef KDL_UTILITY_H
#define KDL_UTILITY_H
#include "kdl-config.h"
#include <cstdlib>
#include <cassert>
#include <cmath>
/////////////////////////////////////////////////////////////
// configurable options for the frames library.
#ifdef KDL_INLINE
#ifdef _MSC_VER
// Microsoft Visual C
#define IMETHOD __forceinline
#else
// Some other compiler, e.g. gcc
#define IMETHOD inline
#endif
#else
#define IMETHOD
#endif
//! turn on or off frames bounds checking. If turned on, assert() can still
//! be turned off with -DNDEBUG.
#ifdef KDL_INDEX_CHECK
#define FRAMES_CHECKI(a) assert(a)
#else
#define FRAMES_CHECKI(a)
#endif
namespace KDL {
#ifdef __GNUC__
// so that sin,cos can be overloaded and complete
// resolution of overloaded functions work.
using ::sin;
using ::cos;
using ::exp;
using ::log;
using ::sin;
using ::cos;
using ::tan;
using ::sinh;
using ::cosh;
using ::pow;
using ::sqrt;
using ::atan;
using ::hypot;
using ::asin;
using ::acos;
using ::tanh;
using ::atan2;
#endif
#ifndef __GNUC__
//only real solution : get Rall1d and varia out of namespaces.
#pragma warning (disable:4786)
inline double sin(double a) {
return ::sin(a);
}
inline double cos(double a) {
return ::cos(a);
}
inline double exp(double a) {
return ::exp(a);
}
inline double log(double a) {
return ::log(a);
}
inline double tan(double a) {
return ::tan(a);
}
inline double cosh(double a) {
return ::cosh(a);
}
inline double sinh(double a) {
return ::sinh(a);
}
inline double sqrt(double a) {
return ::sqrt(a);
}
inline double atan(double a) {
return ::atan(a);
}
inline double acos(double a) {
return ::acos(a);
}
inline double asin(double a) {
return ::asin(a);
}
inline double tanh(double a) {
return ::tanh(a);
}
inline double pow(double a,double b) {
return ::pow(a,b);
}
inline double atan2(double a,double b) {
return ::atan2(a,b);
}
#endif
/**
* Auxiliary class for argument types (Trait-template class )
*
* Is used to pass doubles by value, and arbitrary objects by const reference.
* This is TWICE as fast (2 x less memory access) and avoids bugs in VC6++ concerning
* the assignment of the result of intrinsic functions to const double&-typed variables,
* and optimization on.
*/
template <class T>
class TI
{
public:
typedef const T& Arg; //!< Arg is used for passing the element to a function.
};
template <>
class TI<double> {
public:
typedef double Arg;
};
template <>
class TI<int> {
public:
typedef int Arg;
};
/**
* /note linkage
* Something fishy about the difference between C++ and C
* in C++ const values default to INTERNAL linkage, in C they default
* to EXTERNAL linkage. Here the constants should have EXTERNAL linkage
* because they, for at least some of them, can be changed by the user.
* If you want to explicitly declare internal linkage, use "static".
*/
//!
extern int STREAMBUFFERSIZE;
//! maximal length of a file name
extern int MAXLENFILENAME;
//! the value of pi
extern const double PI;
//! the value pi/180
extern const double deg2rad;
//! the value 180/pi
extern const double rad2deg;
//! default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
extern double epsilon;
//! the number of derivatives used in the RN-... objects.
extern int VSIZE;
#ifndef _MFC_VER
#undef max
inline double max(double a,double b) {
if (b<a)
return a;
else
return b;
}
#undef min
inline double min(double a,double b) {
if (b<a)
return b;
else
return a;
}
#endif
#ifdef _MSC_VER
//#pragma inline_depth( 255 )
//#pragma inline_recursion( on )
#define INLINE __forceinline
//#define INLINE inline
#else
#define INLINE inline
#endif
inline double LinComb(double alfa,double a,
double beta,double b ) {
return alfa*a+beta*b;
}
inline void LinCombR(double alfa,double a,
double beta,double b,double& result ) {
result=alfa*a+beta*b;
}
//! to uniformly set double, RNDouble,Vector,... objects to zero in template-classes
inline void SetToZero(double& arg) {
arg=0;
}
//! to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes
inline void SetToIdentity(double& arg) {
arg=1;
}
inline double sign(double arg) {
return (arg<0)?(-1):(1);
}
inline double sqr(double arg) { return arg*arg;}
inline double Norm(double arg) {
return fabs( (double)arg );
}
#if defined __WIN32__ && !defined __GNUC__
inline double hypot(double y,double x) { return ::_hypot(y,x);}
inline double abs(double x) { return ::fabs(x);}
#endif
// compares whether 2 doubles are equal in an eps-interval.
// Does not check whether a or b represents numbers
// On VC6, if a/b is -INF, it returns false;
inline bool Equal(double a,double b,double eps=epsilon)
{
double tmp=(a-b);
return ((eps>tmp)&& (tmp>-eps) );
}
inline void random(double& a) {
a = 1.98*rand()/(double)RAND_MAX -0.99;
}
inline void posrandom(double& a) {
a = 0.001+0.99*rand()/(double)RAND_MAX;
}
inline double diff(double a,double b,double dt) {
return (b-a)/dt;
}
//inline float diff(float a,float b,double dt) {
//return (b-a)/dt;
//}
inline double addDelta(double a,double da,double dt) {
return a+da*dt;
}
//inline float addDelta(float a,float da,double dt) {
// return a+da*dt;
//}
}
#endif
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