00001 /* 00002 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. 00003 * All rights reserved. This program is made available under the terms of the 00004 * Eclipse Public License v1.0 which accompanies this distribution, and is 00005 * available at http://www.eclipse.org/legal/epl-v10.html 00006 * Contributors: 00007 * The University of Tokyo 00008 */ 00016 #ifndef __COMMON_H__ 00017 #define __COMMON_H__ 00018 00019 static char charname_separator = ':'; 00020 00021 #ifndef PI 00022 #define PI 3.1416 00023 #endif 00024 00025 #define TINY 1e-8 00026 00027 #define MAX(m, n) ((m >= n) ? m : n) 00028 #define MIN(m, n) ((m <= n) ? m : n) 00029 #define MAX3(l, m, n) ((MAX(l,m) >= n) ? MAX(l,m) : n) 00030 00031 #endif