utility.h

00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2000-2003
00004  *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
00005  *
00006  *
00007  *  This program is free software; you can redistribute it and/or modify
00008  *  it under the terms of the GNU General Public License as published by
00009  *  the Free Software Foundation; either version 2 of the License, or
00010  *  (at your option) any later version.
00011  *
00012  *  This program is distributed in the hope that it will be useful,
00013  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *  GNU General Public License for more details.
00016  *
00017  *  You should have received a copy of the GNU General Public License
00018  *  along with this program; if not, write to the Free Software
00019  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00020  *
00021  */
00022 
00023 /***************************************************************************
00024  * Desc: Player v2.0 C++ client
00025  * Authors: Brad Kratochvil, Toby Collett
00026  *
00027  * Date: 23 Sep 2005
00028  # CVS: $Id: utility.h,v 1.1.2.2 2006/06/09 18:13:50 gerkey Exp $
00029  **************************************************************************/
00030 
00031 
00032 #ifndef PLAYERCC_UTILITY_H
00033 #define PLAYERCC_UTILITY_H
00034 namespace PlayerCc
00035 {
00043 
00044 const int PLAYER_PORTNUM = 6665;
00046 const std::string PLAYER_HOSTNAME = "localhost";
00047 
00048 // Since they are inline, these functions are as efficient as DEFINES,
00049 // but now they have the benefit of type checking!
00050 
00052 inline double rtod(double r)
00053 {
00054   return r * 180.0 / M_PI;
00055 }
00056 
00058 inline double dtor(double r)
00059 {
00060   return r * M_PI / 180.0;
00061 }
00062 
00064 inline double normalize(double z)
00065 {
00066   return atan2(sin(z), cos(z));
00067 }
00068 
00070 template<typename T>
00071 inline T min(T a, T b)
00072 {
00073   if (a < b)
00074     return a;
00075   else
00076     return b;
00077 }
00078 
00080 template<typename T>
00081 inline T max(T a, T b)
00082 {
00083   if (a > b)
00084     return a;
00085   else
00086     return b;
00087 }
00088 
00090 template<typename T>
00091 inline T limit(T a, T min, T max)
00092 {
00093   if (a < min)
00094     return min;
00095   else if (a > max)
00096     return max;
00097   else
00098     return a;
00099 }
00100 
00103 } // namespace
00104 
00105 #endif
00106 

Last updated 12 September 2005 21:38:45