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maps/include/mrpt/otherlibs/octomap/math/utils.h
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1 // $Id: Utils.h 171 2011-01-20 13:56:28Z kai_wurm $
2 
3 /**
4 * OctoMap:
5 * A probabilistic, flexible, and compact 3D mapping library for robotic systems.
6 * @author K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009.
7 * @see http://octomap.sourceforge.net/
8 * License: New BSD License
9 */
10 
11 /*
12  * Copyright (c) 2009, K. M. Wurm, A. Hornung, University of Freiburg
13  * All rights reserved.
14  *
15  * Redistribution and use in source and binary forms, with or without
16  * modification, are permitted provided that the following conditions are met:
17  *
18  * * Redistributions of source code must retain the above copyright
19  * notice, this list of conditions and the following disclaimer.
20  * * Redistributions in binary form must reproduce the above copyright
21  * notice, this list of conditions and the following disclaimer in the
22  * documentation and/or other materials provided with the distribution.
23  * * Neither the name of the University of Freiburg nor the names of its
24  * contributors may be used to endorse or promote products derived from
25  * this software without specific prior written permission.
26  *
27  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
28  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
29  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
30  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
31  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
32  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
33  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
34  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
35  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
36  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
37  * POSSIBILITY OF SUCH DAMAGE.
38  */
39 
40 #ifndef OCTOMATH_UTILS_H
41 #define OCTOMATH_UTILS_H
42 
43 #ifndef M_PI
44 #define M_PI 3.14159265358979323846
45 #endif
46 
47 #ifndef M_PI_2
48 #define M_PI_2 1.570796326794896619
49 #endif
50 
51 
52 #ifndef DEG2RAD
53 #define DEG2RAD(x) ((x) * 0.01745329251994329575)
54 #endif
55 
56 #ifndef RAD2DEG
57 #define RAD2DEG(x) ((x) * 57.29577951308232087721)
58 #endif
59 
60 
61 
62 #endif



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