helpers.h
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00001 //=================================================================================================
00002 // Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_QUADROTOR_MODEL_HELPERS_H
00030 #define HECTOR_QUADROTOR_MODEL_HELPERS_H
00031 
00032 #include <geometry_msgs/Wrench.h>
00033 #include <boost/range/iterator_range.hpp>
00034 
00035 namespace hector_quadrotor_model
00036 {
00037 
00038 template <typename T> int isnan(const T& value) {
00039   return std::isnan(value);
00040 }
00041 
00042 template <typename T, std::size_t N> int isnan(const boost::array<T,N>& array) {
00043   for(typename boost::array<T,N>::const_iterator it = array.begin(); it != array.end(); ++it)
00044     if (std::isnan(*it)) return std::isnan(*it);
00045   return false;
00046 }
00047 
00048 template <typename IteratorT> int isnan(const boost::iterator_range<IteratorT>& range, const typename boost::iterator_range<IteratorT>::value_type& min, const typename boost::iterator_range<IteratorT>::value_type& max) {
00049   for(IteratorT it = range.begin(); it != range.end(); ++it)
00050     if (std::isnan(*it)) return std::isnan(*it);
00051   return false;
00052 }
00053 
00054 template <typename T> int isinf(const T& value) {
00055   return std::isinf(value);
00056 }
00057 
00058 template <typename T, std::size_t N> int isinf(const boost::array<T,N>& array) {
00059   for(typename boost::array<T,N>::const_iterator it = array.begin(); it != array.end(); ++it)
00060     if (std::isinf(*it)) return std::isinf(*it);
00061   return false;
00062 }
00063 
00064 template <typename IteratorT> int isinf(const boost::iterator_range<IteratorT>& range, const typename boost::iterator_range<IteratorT>::value_type& min, const typename boost::iterator_range<IteratorT>::value_type& max) {
00065   for(IteratorT it = range.begin(); it != range.end(); ++it)
00066     if (std::isinf(*it)) return std::isinf(*it);
00067   return false;
00068 }
00069 
00070 template <typename T> void limit(T& value, const T& min, const T& max) {
00071   if (!isnan(min) && value < min) value = min;
00072   if (!isnan(max) && value > max) value = max;
00073 }
00074 
00075 template <typename T, std::size_t N> void limit(boost::array<T,N>& array, const T& min, const T& max) {
00076   for(typename boost::array<T,N>::iterator it = array.begin(); it != array.end(); ++it)
00077     limit(*it, min, max);
00078 }
00079 
00080 template <typename IteratorT> void limit(const boost::iterator_range<IteratorT>& range, const typename boost::iterator_range<IteratorT>::value_type& min, const typename boost::iterator_range<IteratorT>::value_type& max) {
00081   for(IteratorT it = range.begin(); it != range.end(); ++it)
00082     limit(*it, min, max);
00083 }
00084 
00085 template <typename T> static inline void checknan(T& value, const std::string& text = "") {
00086   if (isnan(value)) {
00087 #ifndef NDEBUG
00088     if (!text.empty()) std::cerr << text << " contains **!?* Nan values!" << std::endl;
00089 #endif
00090     value = T();
00091     return;
00092   }
00093 
00094   if (isinf(value)) {
00095 #ifndef NDEBUG
00096     if (!text.empty()) std::cerr << text << " is +-Inf!" << std::endl;
00097 #endif
00098     value = T();
00099     return;
00100   }
00101 }
00102 
00103 template <typename Message, typename Vector> static inline void toVector(const Message& msg, Vector& vector)
00104 {
00105   vector.x = msg.x;
00106   vector.y = msg.y;
00107   vector.z = msg.z;
00108 }
00109 
00110 template <typename Message, typename Vector> static inline void fromVector(const Vector& vector, Message& msg)
00111 {
00112   msg.x = vector.x;
00113   msg.y = vector.y;
00114   msg.z = vector.z;
00115 }
00116 
00117 template <typename Message, typename Quaternion> static inline void toQuaternion(const Message& msg, Quaternion& vector)
00118 {
00119   vector.w = msg.w;
00120   vector.x = msg.x;
00121   vector.y = msg.y;
00122   vector.z = msg.z;
00123 }
00124 
00125 template <typename Message, typename Quaternion> static inline void fromQuaternion(const Quaternion& vector, Message& msg)
00126 {
00127   msg.w = vector.w;
00128   msg.x = vector.x;
00129   msg.y = vector.y;
00130   msg.z = vector.z;
00131 }
00132 
00133 static inline geometry_msgs::Vector3 operator+(const geometry_msgs::Vector3& a, const geometry_msgs::Vector3& b)
00134 {
00135   geometry_msgs::Vector3 result;
00136   result.x = a.x + b.x;
00137   result.y = a.y + b.y;
00138   result.z = a.z + b.z;
00139   return result;
00140 }
00141 
00142 static inline geometry_msgs::Wrench operator+(const geometry_msgs::Wrench& a, const geometry_msgs::Wrench& b)
00143 {
00144   geometry_msgs::Wrench result;
00145   result.force = a.force + b.force;
00146   result.torque = a.torque + b.torque;
00147   return result;
00148 }
00149 
00150 template<typename T>
00151 class PrintVector {
00152 public:
00153   typedef const T* const_iterator;
00154   PrintVector(const_iterator begin, const_iterator end, const std::string &delimiter = "[ ]") : begin_(begin), end_(end), delimiter_(delimiter) {}
00155   const_iterator begin() const { return begin_; }
00156   const_iterator end() const { return end_; }
00157   std::size_t size() const { return end_ - begin_; }
00158 
00159   std::ostream& operator>>(std::ostream& os) const {
00160     if (!delimiter_.empty()) os << delimiter_.substr(0, delimiter_.size() - 1);
00161     for(const_iterator it = begin(); it != end(); ++it) {
00162       if (it != begin()) os << " ";
00163       os << *it;
00164     }
00165     if (!delimiter_.empty()) os << delimiter_.substr(1, delimiter_.size() - 1);
00166     return os;
00167   }
00168 
00169 private:
00170   const_iterator begin_, end_;
00171   std::string delimiter_;
00172 };
00173 template <typename T> std::ostream &operator<<(std::ostream& os, const PrintVector<T>& vector) { return vector >> os; }
00174 
00175 }
00176 
00177 #endif // HECTOR_QUADROTOR_MODEL_HELPERS_H


hector_quadrotor_model
Author(s): Johannes Meyer , Alexander Sendobry
autogenerated on Sun Jul 10 2016 04:50:01