conversions.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Units conversion aids.
00004  *
00005  *  Copyright (C) 2007, 2009 Austin Robot Technology                    
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: conversions.h 630 2010-09-25 16:20:42Z jack.oquin $
00009  */
00010 
00011 #ifndef _CONVERSIONS_H
00012 #define _CONVERSIONS_H
00013 
00021 #include <math.h>
00022 #include <sys/time.h>
00023 #include <time.h>
00024 
00025 
00027 const double INCHES_PER_FOOT = 12.0;
00028 const double CM_PER_INCH = 2.54;
00029 const double CM_PER_METER = 100.0;
00030 const double METERS_PER_FOOT = INCHES_PER_FOOT * CM_PER_INCH / CM_PER_METER; // = 0.3048
00031 const double MMETERS_PER_KM =   1000000.0;
00032 const double MMETERS_PER_MILE = 1609344.0;
00033 const double METERS_PER_MILE =  MMETERS_PER_MILE / 1000.0;
00034 const long   SECONDS_PER_MINUTE = 60;
00035 const long   MINUTES_PER_HOUR = 60;
00036 const long   SECONDS_PER_HOUR = SECONDS_PER_MINUTE * MINUTES_PER_HOUR;
00037 const double RADIANS_PER_DEGREE = M_PI/180.0;
00038 const double DEGREES_PER_RADIAN = 180.0/M_PI;
00039 
00041 const double TWOPI = 2.0 * M_PI;
00042 const double HALFPI = M_PI / 2.0;
00043 
00044 
00046 static inline double mmps2mph(double mm)
00047 {
00048   return mm * SECONDS_PER_HOUR / MMETERS_PER_MILE;
00049 }
00050 
00051 static inline double kmph2mmps(double kmph)
00052 {
00053   return kmph * MMETERS_PER_KM / SECONDS_PER_HOUR;
00054 }
00055 
00056 static inline double mph2mmps(double mph)
00057 {
00058   return mph * MMETERS_PER_MILE / SECONDS_PER_HOUR;
00059 }
00060 
00062 static inline double mph2mps(double mph)
00063 {
00064   return mph * METERS_PER_MILE / SECONDS_PER_HOUR;
00065 }
00066 
00068 static inline double mps2mph(double mps)
00069 {
00070   return mps * SECONDS_PER_HOUR / METERS_PER_MILE;
00071 }
00072 
00074 static inline double feet2meters(double feet)
00075 {
00076   return feet * METERS_PER_FOOT;
00077 }
00078 
00080 static inline double meters2feet(double meters)
00081 {
00082   return meters / METERS_PER_FOOT;
00083 }
00084 
00086 static inline double tv2secs(struct timeval *tv)
00087 {
00088   return tv->tv_sec + (tv->tv_usec / 1000000.0);
00089 }
00090 
00092 static inline double analog_volts(int data, double maxvolts, int nbits)
00093 {
00094   // clamp value to specified bit range
00095   int limit = (1<<nbits);
00096   data &= (limit - 1);
00097   return (maxvolts * data) / limit;
00098 }
00099 
00101 static inline int analog_to_digital(double voltage,
00102                                     double maxvolts, int nbits)
00103 {
00104   return (int) rintf((voltage / maxvolts) * (1<<nbits));
00105 }
00106 
00107 #endif // _CONVERSIONS_H
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art_common
Author(s): Austin Robot Technology
autogenerated on Tue Sep 24 2013 10:41:19