.. _program_listing_file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_misc.hpp:

Program Listing for File misc.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_misc.hpp>` (``/tmp/ws/src/grid_map/grid_map_sdf/include/grid_map_sdf/distance_transform/misc.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
   Copyright (C) 2006 Pedro Felzenszwalb
   
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2 of the License, or
   (at your option) any later version.
   
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
   */
   
   /* random stuff */
   
   #ifndef GRID_MAP_SDF__DISTANCE_TRANSFORM__MISC_HPP_
   #define GRID_MAP_SDF__DISTANCE_TRANSFORM__MISC_HPP_
   
   #include <cmath>
   
   namespace distance_transform
   {
   typedef unsigned char uchar;
   
   typedef struct { uchar r, g, b; } rgb;
   
   inline bool operator==(const rgb & a, const rgb & b)
   {
     return (a.r == b.r) && (a.g == b.g) && (a.b == b.b);
   }
   
   template<class T>
   inline T abs(const T & x) {return x > 0 ? x : -x;}
   
   template<class T>
   inline int sign(const T & x) {return x >= 0 ? 1 : -1;}
   
   template<class T>
   inline T square(const T & x) {return x * x;}
   
   template<class T>
   inline T bound(const T & x, const T & min, const T & max)
   {
     return x < min ? min : (x > max ? max : x);
   }
   
   template<class T>
   inline bool check_bound(const T & x, const T & min, const T & max)
   {
     return (x < min) || (x > max);
   }
   
   inline int vlib_round(float x) {return static_cast<int>(x + 0.5F);}
   
   inline int vlib_round(double x) {return static_cast<int>(x + 0.5);}
   
   inline double gaussian(double val, double sigma)
   {
     return exp(-square(val / sigma) / 2) / (sqrt(2 * M_PI) * sigma);
   }
   
   }  // namespace distance_transform
   
   #endif  // GRID_MAP_SDF__DISTANCE_TRANSFORM__MISC_HPP_