00001 #ifndef PARABOLIC_RAMP_CONFIG_H 00002 #define PARABOLIC_RAMP_CONFIG_H 00003 00004 #include <assert.h> 00005 #include "ros/assert.h" 00006 #include "rosconsole/macros_generated.h" 00007 00009 #define PARABOLIC_RAMP_ASSERT(x) assert(x) 00010 00012 #define PARABOLIC_RAMP_PERROR(...) ROS_ERROR(__VA_ARGS__) 00013 00015 #define PARABOLIC_RAMP_PLOG(...) ROS_INFO(__VA_ARGS__) 00016 00017 namespace ParabolicRamp { 00018 00020 const static Real EpsilonT = 1e-6; 00021 00023 const static Real EpsilonX = 1e-5; 00024 00026 const static Real EpsilonV = 1e-5; 00027 00029 const static Real EpsilonA = 1e-6; 00030 00035 const static int gValidityCheckLevel = 2; 00036 00041 const static int gVerbose = 2; 00042 00044 const static bool gErrorGetchar = true; 00045 00047 const static bool gErrorSave = true; 00048 00049 } //namespace ParabolicRamp 00050 00051 #endif