utilities.hpp

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/*********************************************************************
*  Copyright (c) 2017 - for information on the respective copyright
*  owner see the NOTICE file and/or the repository
*
*      https://github.com/hbanzhaf/steering_functions.git
*
*  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.

*  This source code is derived from Continuous Curvature (CC) Steer.
*  Copyright (c) 2016, Thierry Fraichard and Institut national de
*  recherche en informatique et en automatique (Inria), licensed under
*  the BSD license, cf. 3rd-party-licenses.txt file in the root
*  directory of this source tree.
**********************************************************************/

#ifndef UTILITIES_HPP
#define UTILITIES_HPP

#include "fresnel.data"

#define PI 3.1415926535897932384
#define HALF_PI 1.5707963267948966192
#define TWO_PI 6.2831853071795864770
#define SQRT_PI 1.7724538509055160273
#define SQRT_PI_INV 0.56418958354775628695
#define SQRT_TWO_PI_INV 0.39894228040143267794

namespace steering
{

const double epsilon = 1e-4;

double get_epsilon();

double sgn(double x);

double point_distance(double x1, double y1, double x2, double y2);

void polar(double x, double y, double &r, double &theta);

double twopify(double alpha);

double pify(double alpha);

void fresnel(double s, double &S_f, double &C_f);

void end_of_clothoid(double x_i, double y_i, double theta_i, double kappa_i, double sigma, double direction,
                     double length, double *x_f, double *y_f, double *theta_f, double *kappa_f);

void end_of_circular_arc(double x_i, double y_i, double theta_i, double kappa, double direction, double length,
                         double *x_f, double *y_f, double *theta_f);

void end_of_straight_line(double x_i, double y_i, double theta, double direction, double length, double *x_f,
                          double *y_f);

void global_frame_change(double x, double y, double theta, double local_x, double local_y, double *global_x,
                         double *global_y);

void local_frame_change(double x, double y, double theta, double global_x, double global_y, double *local_x,
                        double *local_y);

int array_index_min(double array[], int size);

void double_array_init(double array[], int size, double value);

void pointer_array_init(void *array[], int size);

} // namespace steering

#endif