<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span> <a name="l00011"></a>00011 <span class="comment"> *</span> <a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00016"></a>00016 <span class="comment"> *</span> <a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> */</span> <a name="l00022"></a>00022 <span class="comment">/********************************************************************</span> <a name="l00023"></a>00023 <span class="comment"> *</span> <a name="l00024"></a>00024 <span class="comment"> * This library is free software; you can redistribute it and/or</span> <a name="l00025"></a>00025 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span> <a name="l00026"></a>00026 <span class="comment"> * License as published by the Free Software Foundation; either</span> <a name="l00027"></a>00027 <span class="comment"> * version 2.1 of the License, or (at your option) any later version.</span> <a name="l00028"></a>00028 <span class="comment"> *</span> <a name="l00029"></a>00029 <span class="comment"> * This library is distributed in the hope that it will be useful,</span> <a name="l00030"></a>00030 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00031"></a>00031 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> <a name="l00032"></a>00032 <span class="comment"> * Lesser General Public License for more details.</span> <a name="l00033"></a>00033 <span class="comment"> *</span> <a name="l00034"></a>00034 <span class="comment"> * You should have received a copy of the GNU Lesser General Public</span> <a name="l00035"></a>00035 <span class="comment"> * License along with this library; if not, write to the Free Software</span> <a name="l00036"></a>00036 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00037"></a>00037 <span class="comment"> *</span> <a name="l00038"></a>00038 <span class="comment"> ********************************************************************/</span> <a name="l00039"></a>00039 <a name="l00040"></a>00040 <span class="comment">/***************************************************************************</span> <a name="l00041"></a>00041 <span class="comment"> * Desc: Player v2.0 C++ client</span> <a name="l00042"></a>00042 <span class="comment"> * Authors: Brad Kratochvil, Toby Collett</span> <a name="l00043"></a>00043 <span class="comment"> *</span> <a name="l00044"></a>00044 <span class="comment"> * Date: 23 Sep 2005</span> <a name="l00045"></a>00045 <span class="comment"> # CVS: $Id: utility.h 7342 2009-02-18 03:43:36Z gbiggs $</span> <a name="l00046"></a>00046 <span class="comment"> **************************************************************************/</span> <a name="l00047"></a>00047 <a name="l00048"></a>00048 <a name="l00049"></a>00049 <span class="preprocessor">#ifndef PLAYERCC_UTILITY_H</span> <a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#define PLAYERCC_UTILITY_H</span> <a name="l00051"></a>00051 <span class="preprocessor"></span><span class="keyword">namespace </span>PlayerCc <a name="l00052"></a>00052 { <a name="l00060"></a>00060 <a name="l00061"></a><a class="code" href="group__player__clientlib__utility.html#ga6f4cc8d7ad32a50feb9c285cbe795df7">00061</a> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="group__player__clientlib__utility.html#ga6f4cc8d7ad32a50feb9c285cbe795df7" title="The default port number for PlayerClient.">PLAYER_PORTNUM</a> = 6665; <a name="l00063"></a><a class="code" href="group__player__clientlib__utility.html#ga877a8a285e27eba8490bdd5861e4d288">00063</a> <span class="keyword">const</span> std::string <a class="code" href="group__player__clientlib__utility.html#ga877a8a285e27eba8490bdd5861e4d288" title="The default hostname for PlayerClient.">PLAYER_HOSTNAME</a> = <span class="stringliteral">"localhost"</span>; <a name="l00064"></a>00064 <a name="l00065"></a>00065 <span class="comment">// Since they are inline, these functions are as efficient as DEFINES,</span> <a name="l00066"></a>00066 <span class="comment">// but now they have the benefit of type checking!</span> <a name="l00067"></a>00067 <a name="l00069"></a><a class="code" href="group__player__clientlib__utility.html#gaffc4389fb969fc2e431ac70855280892">00069</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="group__player__clientlib__utility.html#gaffc4389fb969fc2e431ac70855280892" title="Convert radians to degrees.">rtod</a>(<span class="keywordtype">double</span> r) <a name="l00070"></a>00070 { <a name="l00071"></a>00071 <span class="keywordflow">return</span> r * 180.0 / M_PI; <a name="l00072"></a>00072 } <a name="l00073"></a>00073 <a name="l00075"></a><a class="code" href="group__player__clientlib__utility.html#ga7a56c56e7c12a45bfab1b86df9edfdc1">00075</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="group__player__clientlib__utility.html#ga7a56c56e7c12a45bfab1b86df9edfdc1" title="Convert degrees to radians.">dtor</a>(<span class="keywordtype">double</span> r) <a name="l00076"></a>00076 { <a name="l00077"></a>00077 <span class="keywordflow">return</span> r * M_PI / 180.0; <a name="l00078"></a>00078 } <a name="l00079"></a>00079 <a name="l00081"></a><a class="code" href="group__player__clientlib__utility.html#ga89871f427ac094898c036b3d5a98480a">00081</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="group__player__clientlib__utility.html#ga89871f427ac094898c036b3d5a98480a" title="Normalize angle to domain -pi, pi.">normalize</a>(<span class="keywordtype">double</span> z) <a name="l00082"></a>00082 { <a name="l00083"></a>00083 <span class="keywordflow">return</span> atan2(sin(z), cos(z)); <a name="l00084"></a>00084 } <a name="l00085"></a>00085 <a name="l00087"></a>00087 <span class="preprocessor">#if defined (min)</span> <a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor"> #undef min</span> <a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor">#endif</span> <a name="l00090"></a>00090 <span class="preprocessor"></span><span class="keyword">template</span><<span class="keyword">typename</span> T> <a name="l00091"></a><a class="code" href="group__player__clientlib__utility.html#gae595027e3eb7a9c12bf49dee42d6ea06">00091</a> <span class="keyword">inline</span> T <a class="code" href="group__player__clientlib__utility.html#gae595027e3eb7a9c12bf49dee42d6ea06" title="Return the minimum of a, b.">min</a>(T a, T b) <a name="l00092"></a>00092 { <a name="l00093"></a>00093 <span class="keywordflow">if</span> (a < b) <a name="l00094"></a>00094 <span class="keywordflow">return</span> a; <a name="l00095"></a>00095 <span class="keywordflow">else</span> <a name="l00096"></a>00096 <span class="keywordflow">return</span> b; <a name="l00097"></a>00097 } <a name="l00098"></a>00098 <a name="l00100"></a>00100 <span class="preprocessor">#if defined (max)</span> <a name="l00101"></a>00101 <span class="preprocessor"></span><span class="preprocessor"> #undef max</span> <a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#endif</span> <a name="l00103"></a>00103 <span class="preprocessor"></span><span class="keyword">template</span><<span class="keyword">typename</span> T> <a name="l00104"></a><a class="code" href="group__player__clientlib__utility.html#gaa6c2b569d3d0e6c174a49e8ec1aac796">00104</a> <span class="keyword">inline</span> T <a class="code" href="group__player__clientlib__utility.html#gaa6c2b569d3d0e6c174a49e8ec1aac796" title="Return the maximum of a, b.">max</a>(T a, T b) <a name="l00105"></a>00105 { <a name="l00106"></a>00106 <span class="keywordflow">if</span> (a > b) <a name="l00107"></a>00107 <span class="keywordflow">return</span> a; <a name="l00108"></a>00108 <span class="keywordflow">else</span> <a name="l00109"></a>00109 <span class="keywordflow">return</span> b; <a name="l00110"></a>00110 } <a name="l00111"></a>00111 <a name="l00113"></a>00113 <span class="keyword">template</span><<span class="keyword">typename</span> T> <a name="l00114"></a><a class="code" href="group__player__clientlib__utility.html#ga902d23bb9582b278d85e10477126a10a">00114</a> <span class="keyword">inline</span> T <a class="code" href="group__player__clientlib__utility.html#ga902d23bb9582b278d85e10477126a10a" title="Limit a value to the range of min, max.">limit</a>(T a, T <a class="code" href="group__player__clientlib__utility.html#gae595027e3eb7a9c12bf49dee42d6ea06" title="Return the minimum of a, b.">min</a>, T <a class="code" href="group__player__clientlib__utility.html#gaa6c2b569d3d0e6c174a49e8ec1aac796" title="Return the maximum of a, b.">max</a>) <a name="l00115"></a>00115 { <a name="l00116"></a>00116 <span class="keywordflow">if</span> (a < min) <a name="l00117"></a>00117 <span class="keywordflow">return</span> min; <a name="l00118"></a>00118 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (a > max) <a name="l00119"></a>00119 <span class="keywordflow">return</span> max; <a name="l00120"></a>00120 <span class="keywordflow">else</span> <a name="l00121"></a>00121 <span class="keywordflow">return</span> a; <a name="l00122"></a>00122 } <a name="l00123"></a>00123 <a name="l00126"></a>00126 } <span class="comment">// namespace</span> <a name="l00127"></a>00127 <a name="l00128"></a>00128 <span class="preprocessor">#endif</span> <a name="l00129"></a>00129 <span class="preprocessor"></span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>