Program Listing for File misc.hpp

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/*
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_