2b9591f0f7
* Replace boost features with C++11 equivalents Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include <cmath> in util.h Needed for std::abs Signed-off-by: Jacob Perron <jacob@openrobotics.org>
66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
/**
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Software License Agreement (BSD)
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\file util.h
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\authors Jacob Perron <jperron@sfu.ca>
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\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of Autonomy Lab nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CREATE_UTIL_H
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#define CREATE_UTIL_H
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#include <cmath>
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#define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
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#define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)
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namespace create {
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namespace util {
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static const uint8_t STREAM_HEADER = 19;
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static const float V_3_TICKS_PER_REV = 508.8;
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static const uint32_t V_3_MAX_ENCODER_TICKS = 65535;
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static const float MAX_RADIUS = 2.0;
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static const float STRAIGHT_RADIUS = 32.768;
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static const float IN_PLACE_RADIUS = 0.001;
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static const float PI = 3.14159;
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static const float TWO_PI = 6.28318;
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static const float EPS = 0.0001;
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inline float normalizeAngle(const float& angle) {
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float a = angle;
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while (a < -PI) a += TWO_PI;
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while (a > PI) a -= TWO_PI;
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return a;
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}
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inline bool willFloatOverflow(const float a, const float b) {
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return ( (a < 0.0) == (b < 0.0) && std::abs(b) > std::numeric_limits<float>::max() - std::abs(a) );
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}
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} // namespace util
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} // namespace create
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#endif // CREATE_UTIL_H
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