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Macros.h~
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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
/*
* Copyright (C) 2008 Eric Sauser, EPFL
* RobotCub Consortium, European Commission FP6 Project IST-004370
* email: micha.hersch@robotcub.org
* website: www.robotcub.org
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#ifndef __MATHMACROS_H_
#define __MATHMACROS_H_
#include <math.h>
#ifndef PI
#define PI 3.14159265358979323846264338327950288419716939937510582097494459230781640628621
#endif
#ifndef PIf
#define PIf 3.14159265358979323846f
#endif
#ifndef DEG2RAD
#define DEG2RAD(x) ((x)*(PIf/180.0f))
#endif
#ifndef RAD2DEG
#define RAD2DEG(x) ((x)*(180.0f/PIf))
#endif
#ifndef RND
#define RND(x) (float((x)*((double)rand())/((double)(RAND_MAX+1.0))))
#endif
#ifndef MIN
#define MIN(x,y) (((x)<(y))?(x):(y))
#endif
#ifndef MAX
#define MAX(x,y) (((x)>(y))?(x):(y))
#endif
#ifndef TRUNC
#define TRUNC(x,mn,mx) (MIN(MAX((x),(mn)),(mx)))
#endif
#ifndef SIGN2
#define SIGN(x) (((x)<0.0f)?(-1.0f):(1.0f))
#endif
#ifndef SIGN2
#define SIGN2(a,b) ((b) >= 0.0f ? fabs(a) : -fabs(a))
#endif
#ifndef ROUND
#define ROUND(x) (floor((x)+0.5f))
#endif
#ifndef EPSILON
#define EPSILON (1e-6)
#endif
inline float hypot_s(float a, float b){
float r;
if (fabs(a) > fabs(b)) {
r = b / a;
r = fabs(a) * sqrtf(1.0f + r * r);
} else if (b != 0.0f) {
r = a / b;
r = fabs(b) * sqrtf(1.0f + r * r);
} else {
r = 0.0f;
}
return r;
}
#endif

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