00001 00002 /****************************************************************************** 00003 * 00004 * Copyright (c) 2012 00005 * 00006 * SCHUNK GmbH & Co. KG 00007 * 00008 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: Drivers for "Amtec M5 Protocol" Electronics V4 00011 * 00012 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00013 * 00014 * Email:robotics@schunk.com 00015 * 00016 * ToDo: 00017 * 00018 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00019 * 00020 * Redistribution and use in source and binary forms, with or without 00021 * modification, are permitted provided that the following conditions are met: 00022 * 00023 * * Redistributions of source code must retain the above copyright 00024 * notice, this list of conditions and the following disclaimer. 00025 * * Redistributions in binary form must reproduce the above copyright 00026 * notice, this list of conditions and the following disclaimer in the 00027 * documentation and/or other materials provided with the distribution. 00028 * * Neither the name of SCHUNK GmbH & Co. KG nor the names of its 00029 * contributors may be used to endorse or promote products derived from 00030 * this software without specific prior written permission. 00031 * 00032 * This program is free software: you can redistribute it and/or modify 00033 * it under the terms of the GNU Lesser General Public License LGPL as 00034 * published by the Free Software Foundation, either version 3 of the 00035 * License, or (at your option) any later version. 00036 * 00037 * This program is distributed in the hope that it will be useful, 00038 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00039 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00040 * GNU Lesser General Public License LGPL for more details. 00041 * 00042 * You should have received a copy of the GNU Lesser General Public 00043 * License LGPL along with this program. 00044 * If not, see <http://www.gnu.org/licenses/>. 00045 * 00046 ******************************************************************************/ 00047 00048 00049 00050 #ifndef UTIL_MATH_H 00051 #define UTIL_MATH_H 00052 00053 00054 // ---- local includes ------------------------------------------------------ ; 00055 00056 // ---- global includes ----------------------------------------------------- ; 00057 00058 #include <math.h> 00059 00060 #if defined(__QNX__) || defined(_WIN32) 00061 00062 #ifdef __cplusplus 00063 extern "C" { 00064 #endif 00065 00066 #define M_E 2.7182818284590452354 00067 #define M_LOG2E 1.4426950408889634074 00068 #define M_LOG10E 0.43429448190325182765 00069 #define M_LN2 0.69314718055994530942 00070 #define M_LN10 2.30258509299404568402 00071 #define M_PI 3.14159265358979323846 00072 #define M_PI_2 1.57079632679489661923 00073 #define M_PI_4 0.78539816339744830962 00074 #define M_1_PI 0.31830988618379067154 00075 #define M_2_PI 0.63661977236758134308 00076 #define M_2_SQRTPI 1.12837916709551257390 00077 #define M_SQRT2 1.41421356237309504880 00078 #define M_SQRT1_2 0.70710678118654752440 00079 00080 00081 #ifdef __cplusplus 00082 } 00083 #endif 00084 #endif 00085 00086 00087 #define M_1_2PI (0.5*M_1_PI) 00088 00089 #endif // UTIL_MATH_H 00090 00091 00092 00093 00094 00095 00096 00097 00098