util.h
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00001 
00032 #ifndef CREATE_UTIL_H
00033 #define CREATE_UTIL_H
00034 
00035 #include <sys/time.h>
00036 
00037 #define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
00038 #define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)
00039 
00040 namespace create {
00041   namespace util {
00042 
00043     static const uint8_t STREAM_HEADER = 19;
00044     static const float V_3_TICKS_PER_REV = 508.8;
00045     static const uint32_t V_3_MAX_ENCODER_TICKS = 65535;
00046     static const float MAX_RADIUS = 2.0;
00047     static const float STRAIGHT_RADIUS = 32.768;
00048     static const float IN_PLACE_RADIUS = 0.001;
00049     static const float PI = 3.14159;
00050     static const float TWO_PI = 6.28318;
00051     static const float EPS = 0.0001;
00052 
00053     inline float normalizeAngle(const float& angle) {
00054       float a = angle;
00055       while (a < -PI) a += TWO_PI;
00056       while (a > PI) a -= TWO_PI;
00057       return a;
00058     };
00059 
00060     typedef unsigned long long timestamp_t;
00061 
00064     static timestamp_t getTimestamp() {
00065       struct timeval now;
00066       gettimeofday(&now, NULL);
00067       return now.tv_usec + (timestamp_t) now.tv_sec * 1000000;
00068     }
00069 
00070     inline bool willFloatOverflow(const float a, const float b) {
00071       return ( (a < 0.0) == (b < 0.0) && std::abs(b) > std::numeric_limits<float>::max() - std::abs(a) );
00072     }
00073   }  // namespace util
00074 } // namespace create
00075 
00076 #endif // CREATE_UTIL_H


libcreate
Author(s): Jacob Perron
autogenerated on Thu Jun 6 2019 21:02:06