Gazebo Gazebo: Global.hh Source File

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Generic Typedefs, macros, functions, etc
00022  * Author: Nate Koenig
00023  * Date: 16 June 2003
00024  * CVS: $Id: Global.hh,v 1.3 2004/10/23 06:32:58 inspectorg Exp $
00025  */
00026 
00027 #ifndef GZGLOBAL_H_
00028 #define GZGLOBAL_H_
00029 
00030 
00032 // Typedefs
00034 
00035 typedef unsigned char uchar;
00036 typedef unsigned short ushort;
00037 typedef unsigned int uint;
00038 typedef unsigned long ulong;
00039 typedef int (*gz_plugin_init_fn_t) (void);
00040 
00041 #include <stdint.h>
00042 
00044 // Defines
00046 #ifndef NULL
00047 #define NULL 0
00048 #endif
00049 
00050 #ifndef GZ_COLLIDE_BITS
00051 
00052 #define GZ_ALL_COLLIDE 0xFFFFFFFF
00053 #define GZ_NONE_COLLIDE 0x00000000
00054 #define GZ_FIXED_COLLIDE 0x00000001
00055 #define GZ_LASER_COLLIDE 0x00000002
00056 
00057 #endif
00058 
00059 #ifndef GZ_CAMERA_BITS
00060 
00061 #define GZ_ALL_CAMERA 0xFFFFFFFF
00062 #define GZ_LASER_CAMERA 0x00000001
00063 #define GZ_GUIDATA_CAMERA 0x00000002
00064 
00065 #endif
00066 
00067 // Rendering has to happen in a certain order
00068 #define GZ_RENDER_MAX_PASSES 3
00069 #define GZ_RENDER_LIGHT 0
00070 #define GZ_RENDER_OPAQUE 1
00071 #define GZ_RENDER_TRANSPARENT 2
00072 
00073 
00075 // Macros
00077 
00078 // Convert radians to degrees
00079 #define RTOD(r) ((r) * 180 / M_PI)
00080 
00081 // Convert degrees to radians
00082 #define DTOR(d) ((d) * M_PI / 180)
00083 
00084 // Normalize an angle in the range -Pi to Pi
00085 #define NORMALIZE(a) (atan2(sin(a), cos(a)))
00086 
00087 // Odd and even macros
00088 #define IsEven(x) ( ((x) % 2) == 0)
00089 #define IsOdd(x) ( ((x) % 2) != 0)
00090 
00091 // Min and Max macros
00092 #define Max(x,y) ( (x) > (y) ? (x) : (y) )
00093 #define Min(x,y) ( (x) < (y) ? (x) : (y) )
00094 
00095 #define Round(x) ( (int)( floor((x)+0.5) ) )
00096 
00097 
00098 #endif
00099