Functions.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*
 
Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>
 
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
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#ifndef __POINTMATCHER_FUNCTIONS_H
#define __POINTMATCHER_FUNCTIONS_H
 
#include <cmath>
 
namespace PointMatcherSupport
{
        template<typename T>
        static inline T anyabs(const T& v)
        {
                if (v < T(0))
                        return -v;
                else
                        return v;
        }
 
        template<typename T>
        static inline T normalizeAngle(T v)
        {
                while (v > M_PI)
                        v -= 2*M_PI;
                while (v < -M_PI)
                        v += 2*M_PI;
                return v;
        }
 
 
 
} // PointMatcherSupport
 
#endif // __POINTMATCHER_FUNCTIONS_H