Program Listing for File math.hpp
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/*
* Copyright (C) 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef RMF_UTILS__MATH_HPP
#define RMF_UTILS__MATH_HPP
#include <cmath>
namespace rmf_utils {
//==============================================================================
inline double wrap_to_pi(double value)
{
while (value < -M_PI)
value += 2.0*M_PI;
while (M_PI < value)
value -= 2.0*M_PI;
return value;
}
} // namespace rmf_utils
#endif // RMF_UTILS__MATH_HPP