Visual Servoing Platform version 3.5.0
vpMy.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Module de Macros et de Types de bases en langage "C".
33 *
34 * Authors:
35 * Jean-Luc CORRE
36 *
37 *****************************************************************************/
38#ifndef vpMy_H
39#define vpMy_H
40
41#include <visp3/core/vpConfig.h>
42
43#ifndef DOXYGEN_SHOULD_SKIP_THIS
44
45#include <visp3/robot/vpWireFrameSimulatorTypes.h>
46
47#ifndef NULL
48#define NULL 0
49#endif
50#ifndef FALSE
51#define FALSE 0
52#endif
53#ifndef TRUE
54#define TRUE 1
55#endif
56
57#ifndef STDIN
58#define STDIN 0
59#endif
60#ifndef STDOUT
61#define STDOUT 1
62#endif
63#ifndef STDERR
64#define STDERR 2
65#endif
66
67#define NAMESIZE 80
68#define LINESIZE 256
69
70#define M_EPSILON 1E-06
71
72//#define ABS(X) (((X) < 0) ? -(X) : (X))
73#define FABS(X) (((X) < 0.0) ? -(X) : (X))
74//#define MAX(A,B) (((A) > (B)) ? (A) : (B))
75//#define MAX3(A,B,C) (MAX(MAX(A,B),C))
76//#define MIN(A,B) (((A) < (B)) ? (A) : (B))
77//#define MIN3(A,B,C) (MIN(MIN(A,B),C))
78
79#define MIN_MAX(M, MIN, MAX) \
80 if ((M) < (MIN)) \
81 (MIN) = (M); \
82 else if ((M) > (MAX)) \
83 (MAX) = (M)
84
85#define TWO_POWER(P) (((P) > 0) ? 1 << (P) : 1)
86#define SWAP(A, B, T) \
87 { \
88 (T) = (A); \
89 (A) = (B); \
90 (B) = (T); \
91 }
92
93typedef unsigned char Byte;
94
95#endif
96#endif