57 lines
2.1 KiB
C
57 lines
2.1 KiB
C
/*
|
|
* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
|
|
* https://octomap.github.io/
|
|
*
|
|
* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
|
|
* All rights reserved.
|
|
* License: New BSD
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the University of Freiburg nor the names of its
|
|
* contributors may be used to endorse or promote products derived from
|
|
* this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef OCTOMATH_UTILS_H
|
|
#define OCTOMATH_UTILS_H
|
|
|
|
#ifndef M_PI
|
|
#define M_PI 3.14159265358979323846
|
|
#endif
|
|
|
|
#ifndef M_PI_2
|
|
#define M_PI_2 1.570796326794896619
|
|
#endif
|
|
|
|
|
|
#ifndef DEG2RAD
|
|
#define DEG2RAD(x) ((x) * 0.01745329251994329575)
|
|
#endif
|
|
|
|
#ifndef RAD2DEG
|
|
#define RAD2DEG(x) ((x) * 57.29577951308232087721)
|
|
#endif
|
|
|
|
|
|
|
|
#endif
|