worldsimconfig.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef WORLDSIMCONFIG_H
#define WORLDSIMCONFIG_H

// FARSA_WSIM_TEMPLATE is also for classes that are completely inline
#ifdef WIN32
    #ifndef NOMINMAX
        //--- the min and max macros defined by window will conflicts with functions defined in YARP_math
        #define NOMINMAX
    #endif
    #ifdef FARSA_WSIM_BUILDING_DLL
        #define FARSA_WSIM_API __declspec(dllexport)
        #define FARSA_WSIM_TEMPLATE __declspec(dllexport)
    #else
        #define FARSA_WSIM_API __declspec(dllimport)
        #define FARSA_WSIM_TEMPLATE
    #endif
    #define FARSA_WSIM_INTERNAL
#else
    #define FARSA_WSIM_API
    #define FARSA_WSIM_TEMPLATE
    #define FARSA_WSIM_INTERNAL __attribute__ ((visibility ("hidden")))
#endif

extern bool FARSA_WSIM_API initWorldSimLib();
static const bool worldSimInitializer = initWorldSimLib();

//--- read it as: x.yy.zz where
//---  x  is major version
//---  yy is minor version
//---  zz is patch version
//--- Example: version 2.4.6 is 20406
#define FARSA_WSIM_VERSION 10203

#include <QDebug>
#include <QtGlobal>
#include <QMetaType>

#define UNUSED_PARAM( a ) ( (void) a );

namespace farsa {

typedef float real;

#define PI_GRECO 3.14159265358979323846f

inline FARSA_WSIM_TEMPLATE real toRad( real x ) {
    return (x)*PI_GRECO/180.0f;
}

inline FARSA_WSIM_TEMPLATE real toDegree( real x ) {
    return (x)*180.0f/PI_GRECO;
}

template<class T, class U>
FARSA_WSIM_TEMPLATE const T min( const T& t1, const U& t2 ) {
    if ( t1 < t2 ) {
        return t1;
    } else {
        return (T)t2;
    }
}

template<class T, class U>
FARSA_WSIM_TEMPLATE const T max( const T& t1, const U& t2 ) {
    if ( t1 > t2 ) {
        return t1;
    } else {
        return (T)t2;
    }
}

inline FARSA_WSIM_TEMPLATE real ramp( real minv, real maxv, real value ) {
    if ( value > maxv ) return maxv;
    if ( value < minv ) return minv;
    return value;
}

inline FARSA_WSIM_TEMPLATE float linearMap( float x, float min = -10, float max = 10,
                float outMin = -1, float outMax = 1 ) {
    float m = ( outMax-outMin )/( max-min );
    float q = outMin - m*min;
    float ret = m*x+q;
    if (ret < outMin) return outMin;
    if (ret > outMax) return outMax;
    return ret;
}

inline FARSA_WSIM_TEMPLATE float invLinearMap( float x, float min = -10, float max = 10,
                    float outMin = -1, float outMax = 1 ) {
    double m = - ( outMax-outMin )/( max-min );
    double q = outMax - m*min;
    double ret = m*x+q;
    if (ret < outMin) return outMin;
    if (ret > outMax) return outMax;
    return ret;
}

} // end namespace farsa

#include "simpletimer.h"

#endif