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maps/include/mrpt/otherlibs/octomap/math/utils.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 // $Id: Utils.h 171 2011-01-20 13:56:28Z kai_wurm $
10 
11 /**
12 * OctoMap:
13 * A probabilistic, flexible, and compact 3D mapping library for robotic systems.
14 * @author K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009.
15 * @see http://octomap.sourceforge.net/
16 * License: New BSD License
17 */
18 
19 /*
20  * Copyright (c) 2009, K. M. Wurm, A. Hornung, University of Freiburg
21  * All rights reserved.
22  *
23  * Redistribution and use in source and binary forms, with or without
24  * modification, are permitted provided that the following conditions are met:
25  *
26  * * Redistributions of source code must retain the above copyright
27  * notice, this list of conditions and the following disclaimer.
28  * * Redistributions in binary form must reproduce the above copyright
29  * notice, this list of conditions and the following disclaimer in the
30  * documentation and/or other materials provided with the distribution.
31  * * Neither the name of the University of Freiburg nor the names of its
32  * contributors may be used to endorse or promote products derived from
33  * this software without specific prior written permission.
34  *
35  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
36  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
37  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
38  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
39  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
40  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
41  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
42  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
43  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
44  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
45  * POSSIBILITY OF SUCH DAMAGE.
46  */
47 
48 #ifndef OCTOMATH_UTILS_H
49 #define OCTOMATH_UTILS_H
50 
51 #ifndef M_PI
52 #define M_PI 3.14159265358979323846
53 #endif
54 
55 #ifndef M_PI_2
56 #define M_PI_2 1.570796326794896619
57 #endif
58 
59 
60 #ifndef DEG2RAD
61 #define DEG2RAD(x) ((x) * 0.01745329251994329575)
62 #endif
63 
64 #ifndef RAD2DEG
65 #define RAD2DEG(x) ((x) * 57.29577951308232087721)
66 #endif
67 
68 
69 
70 #endif



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