general.h
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1 
9 #ifndef GENERAL_H
10 #define GENERAL_H
11 
12 #include <argos3/core/utility/datatypes/datatypes.h>
13 #include <vector>
14 #include <utility>
15 #include <cmath>
16 
17 namespace argos {
18  /****************************************/
19  /****************************************/
20 
25  template<typename T> T Abs(const T& t_v) {
26  if (t_v > T(0)) return t_v;
27  if (t_v < T(0)) return -t_v;
28  return T(0);
29  }
30 
37  inline SInt32 Abs(SInt32 t_v) {
38  if (t_v > 0) return t_v;
39  if (t_v < 0) return -t_v;
40  return 0;
41  }
42 
48  inline Real Abs(Real t_v) {
49  if (t_v > 0.0f) return t_v;
50  if (t_v < 0.0f) return -t_v;
51  return 0.0f;
52  }
53 
54  /****************************************/
55  /****************************************/
56 
57 #ifdef ARGOS_USE_DOUBLE
58 #define Log ::log
59 #define Sqrt ::sqrt
60 #define Exp ::exp
61 #define Mod ::fmod
62 #else
63 #define Log ::logf
64 #define Sqrt ::sqrtf
65 #define Exp ::expf
66 #define Mod ::fmodf
67 #endif
68 
69  /****************************************/
70  /****************************************/
71 
77  template<typename T> T Min(const T& t_v1, const T& t_v2) {
78  return t_v1 < t_v2 ? t_v1 : t_v2;
79  }
80 
86  template<typename T> T& Min(T& t_v1, T& t_v2) {
87  return t_v1 < t_v2 ? t_v1 : t_v2;
88  }
89 
95  template<typename T> T Max(const T& t_v1, const T& t_v2) {
96  return t_v1 > t_v2 ? t_v1 : t_v2;
97  }
98 
104  template<typename T> T& Max(T& t_v1, T& t_v2) {
105  return t_v1 > t_v2 ? t_v1 : t_v2;
106  }
107 
108  /****************************************/
109  /****************************************/
110 
115  template<typename T> SInt32 Sign(const T& t_v) {
116  if (t_v > T(0)) return 1;
117  if (t_v < T(0)) return -1;
118  return 0;
119  }
120 
121  /****************************************/
122  /****************************************/
123 
128  template<typename T> T Square(const T& t_v) {
129  return t_v * t_v;
130  }
131 
132  /****************************************/
133  /****************************************/
134 
140  inline SInt32 Floor(Real f_value) {
141  SInt32 nI = static_cast<SInt32> (f_value);
142  if (f_value >= 0.0f) return nI;
143  return nI - 1;
144  }
145 
151  inline SInt32 Ceil(Real f_value) {
152  SInt32 nI = static_cast<SInt32> (f_value);
153  if (nI < f_value) return nI + 1;
154  return nI;
155  }
156 
162  inline SInt32 Round(Real f_value) {
163  if (f_value > 0.0f) return Floor(f_value + 0.5f);
164  return Ceil(f_value - 0.5f);
165  }
166 
172  inline SInt32 RoundClosestToZero(Real f_value) {
173  if (f_value > 0.0f) return Floor(f_value);
174  return Ceil(f_value);
175  }
176 
177  /****************************************/
178  /****************************************/
179 
194  inline bool DoubleEqAbsolute(Real f_value1, Real f_value2, Real f_epsilon) {
195  return Abs<Real > (f_value1 - f_value2) <= f_epsilon * Max<Real > (1.0f, Max<Real > (Abs<Real > (f_value1), Abs<Real > (f_value2)));
196  }
197 
206  inline bool DoubleEq(Real f_value1, Real f_value2) {
207  return Abs<Real > (f_value1 - f_value2) <= 0.0001f * Max<Real > (1.0f, Max<Real > (Abs<Real > (f_value1), Abs<Real > (f_value2)));
208  }
209 
210  /****************************************/
211  /****************************************/
212 
219  inline Real Interpolate(Real f_x, const std::vector<std::pair<Real, Real> >& c_points) {
220  std::pair<Real, Real> cP0 = c_points.at(0);
221  std::pair<Real, Real> cP1;
222  for (UInt32 i = 1; i < c_points.size(); ++i) {
223  cP1 = c_points.at(i);
224  if (cP1.first >= f_x) {
225  break;
226  } else if (i < c_points.size() - 1) {
227  cP0 = cP1;
228  }
229  }
230  return (f_x * (cP0.second - cP1.second)) / (cP0.first - cP1.first)+(-cP1.first * cP0.second + cP0.first * cP1.second) / (cP0.first - cP1.first);;
231  }
232 }
233 
234 #endif
T Max(const T &t_v1, const T &t_v2)
Returns the bigger of the two passed arguments.
Definition: general.h:95
T Square(const T &t_v)
Returns the square of the value of the passed argument.
Definition: general.h:128
signed int SInt32
32-bit signed integer.
Definition: datatypes.h:93
Real Interpolate(Real f_x, const std::vector< std::pair< Real, Real > > &c_points)
Return the value of the linear interpolation.
Definition: general.h:219
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
T Abs(const T &t_v)
Returns the absolute value of the passed argument.
Definition: general.h:25
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
SInt32 Round(Real f_value)
Rounds the passed floating-point value to the closest integer.
Definition: general.h:162
SInt32 Sign(const T &t_v)
Returns the sign of the value of the passed argument.
Definition: general.h:115
SInt32 RoundClosestToZero(Real f_value)
Rounds the passed floating-point value to the integer closest to zero.
Definition: general.h:172
bool DoubleEq(Real f_value1, Real f_value2)
Tests whether a floating-point value is lower than another.
Definition: general.h:206
SInt32 Ceil(Real f_value)
Rounds the passed floating-point value to the closest higher integer.
Definition: general.h:151
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
T Min(const T &t_v1, const T &t_v2)
Returns the smaller of the two passed arguments.
Definition: general.h:77
SInt32 Floor(Real f_value)
Rounds the passed floating-point value to the closest lower integer.
Definition: general.h:140
bool DoubleEqAbsolute(Real f_value1, Real f_value2, Real f_epsilon)
Tests whether a floating-point value is lower than another.
Definition: general.h:194