compAIR/libcreate
compAIR/libcreate
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Code cleanup

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This commit is contained in:
jacobperron 2016-02-12 17:44:30 -08:00
parent 8a3209d6a1
commit bcd27b788a
13 changed files with 142 additions and 146 deletions
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11
include/create/util.h
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@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
@ -49,7 +49,7 @@ namespace create {
static const float PI = 3.14159;
static const float TWO_PI = 6.28318;
static const float EPS = 0.0001;
inline float normalizeAngle(const float& angle) {
float a = angle;
while (a < -PI) a += TWO_PI;
@ -57,9 +57,10 @@ namespace create {
return a;
};
typedef unsigned long long timestamp_t;
/** Get a timestamp for the current time in micro-seconds.
*/
typedef unsigned long long timestamp_t;
static timestamp_t getTimestamp() {
struct timeval now;
gettimeofday(&now, NULL);