Math.hh

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#ifndef P_MATH_HH
#define P_MATH_HH

#include <limits.h>
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <blort/Recognizer3D/PNamespace.hh>
#include <blort/Recognizer3D/Except.hh>

#ifdef WIN32
#include <winsock.h>
#else
#include <sys/time.h>
#endif

namespace P
{

const unsigned UNDEF_ID = UINT_MAX;

const unsigned START     = 0;
const unsigned END       = 1;
const unsigned MID       = 2;
const unsigned ONE_THIRD = 3;
const unsigned TWO_THIRD = 4;
const unsigned STOP      = 15;

inline unsigned OtherEnd(unsigned end)
{
  return end ^ 0x1;
}

// same and opposite sense
const unsigned SAME = START;
const unsigned OPP  = END;

const unsigned LEFT  = 0;
const unsigned RIGHT = 1;
const unsigned CAM3D = 2;

// inner and outer ends of junctions
const unsigned INNER = 0;
const unsigned OUTER = 1;

inline unsigned OtherSide(unsigned side)
{
  return side ^ 0x1;
}

inline unsigned Other(unsigned i)
{
  return i ^ 0x1;
}

extern bool IsZero(double d);

extern bool IsEqual(double a, double b);

template <class Num>
extern Num Sqr(Num x);

template <class Num>
extern Num Max(Num a, Num b);
template <class Num>
extern Num Min(Num a, Num b);

template <class Num>
extern int Sign(Num x);

template <class T>
inline void Swap(T &a, T &b);

template <class Num>
inline bool Between(Num x, Num l, Num u);
template <class Num>
inline bool BetweenEq(Num x, Num l, Num u);

extern double ScaleAngle_0_2pi(double a);
extern double ScaleAngle_mpi_pi(double a);
extern double ScaleAngle_0_pi(double a);
extern double DiffAngle_mpi_pi(double b, double a);
extern double DiffAngle_0_2pi(double b, double a);
extern int ScaleIntAngle_0_8(int a);

extern int timeval_subtract(struct timeval *result, struct timeval *x,
  struct timeval *y);
extern double timespec_diff(struct timespec *x, struct timespec *y);

}

#include <blort/Recognizer3D/Math.ic>

#endif