utils.h

一种动态环境下的基于神经网络的机器人路径搜索

#ifndef UTILS_H
#define UTILS_H

#include <stdlib.h>
#include <math.h>
#include <sstream>
#include <string>
#include <iostream>
#include <vector>

using namespace std;

//----------------------------------------------------------------------------
//	some random number functions.
//----------------------------------------------------------------------------

//returns a random integer between x and y
inline int	  RandInt(int x,int y) {return rand()%(y-x+1)+x;}

//returns a random float between zero and 1
inline double RandFloat()		   {return (rand())/(RAND_MAX+1.0);}
inline int RandmInt(int a, int b,int dk)
{
int c=dk%(2*(b-a));
if(c<(b-a))
  return (b-c);
else
  return (2*a+c-b);
}
//returns a random bool
inline bool   RandBool()
{
	if (RandInt(0,1)) return true;

	else return false;
}

//returns a random float in the range -1 < n < 1
inline double RandomClamped()	   {return RandFloat() - RandFloat();}


//-----------------------------------------------------------------------
//	
//	some handy little functions
//-----------------------------------------------------------------------

//converts an integer to a std::string
string itos(int arg);

//converts an float to a std::string
string ftos (float arg);

//	clamps the first argument between the second two
void Clamp(double &arg, float min, float max);

/////////////////////////////////////////////////////////////////////
//
//	Point structure
//
/////////////////////////////////////////////////////////////////////
struct SPoint
{
	float x, y;
	
	SPoint(){}
	SPoint(float a, float b):x(a),y(b){}
};




#endif