misc.h

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 * Author: Christoph Rösmann
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#ifndef MISC_H
#define MISC_H
 
#include <Eigen/Core>
#include <boost/utility.hpp>
#include <boost/type_traits.hpp>
 
 
namespace teb_local_planner
{
 
#define SMALL_NUM 0.00000001
 
enum class RotType { left, none, right };
 
inline bool is_close(double a, double b, double epsilon = 1e-4) 
{ 
  return std::fabs(a - b) < epsilon; 
}
 
inline double average_angles(const std::vector<double>& angles)
{
  double x=0, y=0;
  for (std::vector<double>::const_iterator it = angles.begin(); it!=angles.end(); ++it)
  {
      x += cos(*it);
      y += sin(*it);
  }
  if(x == 0 && y == 0)
      return 0;
  else
      return std::atan2(y, x);
}
 
inline bool smaller_than_abs(double i, double j) {return std::fabs(i)<std::fabs(j);}
 
 
inline double fast_sigmoid(double x)
{
  return x / (1 + fabs(x));
}
 
template <typename P1, typename P2>
inline double distance_points2d(const P1& point1, const P2& point2)
{
  return std::sqrt( std::pow(point2.x-point1.x,2) + std::pow(point2.y-point1.y,2) );
}
 
 
template <typename V1, typename V2>
inline double cross2d(const V1& v1, const V2& v2)
{
     return v1.x()*v2.y() - v2.x()*v1.y();
}
 
template<typename T>
inline const T& get_const_reference(const T* ptr) {return *ptr;}
 
template<typename T>
inline const T& get_const_reference(const T& val, typename boost::disable_if<boost::is_pointer<T> >::type* dummy = 0) {return val;}
 
} // namespace teb_local_planner
 
#endif /* MISC_H */