.. _program_listing_file__tmp_ws_src_libcreate_include_create_util.h:

Program Listing for File util.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_libcreate_include_create_util.h>` (``/tmp/ws/src/libcreate/include/create/util.h``)

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

.. code-block:: cpp

   
   #ifndef CREATE_UTIL_H
   #define CREATE_UTIL_H
   
   #include <cmath>
   
   #define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
   #define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)
   
   namespace create {
     namespace util {
   
       static const uint8_t STREAM_HEADER = 19;
       static const float V_3_TICKS_PER_REV = 508.8;
       static const uint32_t V_3_MAX_ENCODER_TICKS = 65535;
       static const float MAX_RADIUS = 2.0;
       static const float STRAIGHT_RADIUS = 32.768;
       static const float IN_PLACE_RADIUS = 0.001;
       static const float PI = 3.14159;
       static const float TWO_PI = 6.28318;
       static const float EPS = 0.0001;
   
       inline float normalizeAngle(const float& angle) {
         float a = angle;
         while (a < -PI) a += TWO_PI;
         while (a > PI) a -= TWO_PI;
         return a;
       }
   
       inline bool willFloatOverflow(const float a, const float b) {
         return ( (a < 0.0) == (b < 0.0) && std::abs(b) > std::numeric_limits<float>::max() - std::abs(a) );
       }
     }  // namespace util
   } // namespace create
   
   #endif // CREATE_UTIL_H