49 #ifndef PLAYERCC_UTILITY_H
50 #define PLAYERCC_UTILITY_H
69 inline double rtod(
double r)
71 return r * 180.0 / M_PI;
75 inline double dtor(
double r)
77 return r * M_PI / 180.0;
83 return atan2(sin(z), cos(z));
91 inline T
min(T a, T b)
104 inline T
max(T a, T b)
T min(T a, T b)
Return the minimum of a, b.
Definition: utility.h:109
T limit(T a, T min, T max)
Limit a value to the range of min, max.
Definition: utility.h:132
const int PLAYER_PORTNUM
The default port number for PlayerClient.
Definition: utility.h:79
double normalize(double z)
Normalize angle to domain -pi, pi.
Definition: utility.h:99
double rtod(double r)
Convert radians to degrees.
Definition: utility.h:87
double dtor(double r)
Convert degrees to radians.
Definition: utility.h:93
T max(T a, T b)
Return the maximum of a, b.
Definition: utility.h:122
const std::string PLAYER_HOSTNAME
The default hostname for PlayerClient.
Definition: utility.h:81