utils.h

robocup源代码2001年清华机器人源代码

/*
    Copyright (C) 2001  Tsinghuaeolus

    Authors : ChenJiang, YaoJinyi, CaiYunpeng, Lishi

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library 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
    Lesser General Public License for more details.

	If you make any changes or have any comments we would appreciate a 
	message to [e-mail].
*/
#ifndef _utils
#define _utils

extern int enable_my_error;
extern void my_error(char*,...);

#define DoLogData logdata.LogAction

#define _LOG
#ifdef _LOG
	#define DoLog	rec.LogAction
	//#define DoRecord(x) NULL
	#define DoRecord recmsg.LogAction
#else
	#define DoLog(x) NULL
	#define DoRecord(x) NULL
#endif

/**********  String *****************************/
extern double get_double(char **str_ptr);
extern double get_double(char *str);
extern float  get_float (char **str_ptr);
extern float  get_float (char *str);
extern int    get_int   (char **str_ptr);
extern int    get_int   (char *str);
extern void   get_word  (char **str_ptr);
extern void   get_next_word (char **str_ptr);
extern void   get_token  (char **str_ptr);
extern void   advance_to(char c, char **str_ptr);
extern void   advance_past_space(char **str_ptr);
extern void	  get_to_left_blanket(char **str_ptr);
extern void	  get_to_right_blanket(char **str_ptr);

/********  Mathematics *********************************/
extern inline float   NormalizeAngle(float ang, float min = -180.0f);
extern inline float Rad2Deg(float x);
extern inline float Deg2Rad(float x);
extern inline float  Cos(float deg);
extern inline float  Sin(float deg);
extern inline float  Tan(float deg);
extern inline float  ATan(float x);
extern inline float  ATan2(float x, float y);
extern inline float  ASin(float x);
extern inline float  ACos(float x);
extern inline float  random0_1();
extern inline int  random(int max);
extern inline bool  chance(float luck);
extern inline bool   halfchance();
extern int QuadraticFormula(float a, float b, float c, float& psol1, float& psol2);
extern inline float  Exp(float x, float t);
template<class T> inline const T Min(const T& x, const T& y){
	return x < y ? x : y;
}
template<class T> inline const T Max(const T& x, const T& y){
	return x > y ? x : y;
}
template<class T> inline void Swap(T& x, T& y){
	T tmp =x; x = y; y = tmp;
}
extern void  pose_limitation(float& x, float min, float max);
extern float Angle_distance(float a1, float a2);
extern int Angle_between( float ang, float low, float up );
extern int IsNegativeInf(float x);
extern float priority_sum(float priority1, float priority2);
extern float priority_sub(float priority1, float priority2);
extern float LowPassFilter(float passfreq,float cutfreq,float currentfreq);
extern float HighPassFilter(float cutfreq,float passfreq,float currentfreq);
extern float MidAngle2(float angle,float angle_inf);  
extern float MidAngle(float angle,float angle_inf);
extern float AngleDif(float angle1,float angle2); 
 
#define round(x) ((x)>0?int((x)+0.5f):int((x)-0.5f))
#define Quantize(v,q)	((round((v)/(q)))*(q))
#define Constrain(x,min,max) Min(max,Max(min,(x)))
#define  Sqr(x)     ((x)*(x))
#define  Idx(No)    ((No) - 1)

extern void GetOptions(int,char**);
#endif