00001 //---------------------------------------------------------------------- 00002 // The Motion Strategy Library (MSL) 00003 //---------------------------------------------------------------------- 00004 // 00005 // Copyright (c) University of Illinois and Steven M. LaValle. 00006 // All Rights Reserved. 00007 // 00008 // Permission to use, copy, and distribute this software and its 00009 // documentation is hereby granted free of charge, provided that 00010 // (1) it is not a component of a commercial product, and 00011 // (2) this notice appears in all copies of the software and 00012 // related documentation. 00013 // 00014 // The University of Illinois and the author make no representations 00015 // about the suitability or fitness of this software for any purpose. 00016 // It is provided "as is" without express or implied warranty. 00017 //---------------------------------------------------------------------- 00018 #ifndef MSL_DEFS_H 00019 #define MSL_DEFS_H 00020 00021 #ifndef PI 00022 #define PI 3.1415926535897932385 00023 #endif 00024 #ifndef INFINITY 00025 #define INFINITY 1.0e40 00026 #endif 00027 #ifndef sqr 00028 #define sqr(x) ((x)*(x)) 00029 #endif 00030 #ifndef min 00031 #define min(x,y) ((x<y) ? x : y) 00032 #endif 00033 #ifndef max 00034 #define max(x,y) ((x>y) ? x : y) 00035 #endif 00036 00037 #ifndef MSL_GLOBAL_VARS 00038 #define MSL_GLOBAL_VARS 00039 #include <fstream.h> 00040 static std::ifstream _msl_fin; 00041 #endif 00042 00043 #define READ_OPTIONAL_PARAMETER(F)\ 00044 _msl_fin.open((FilePath+""#F"").c_str());\ 00045 if (_msl_fin) {_msl_fin >> F;}\ 00046 _msl_fin.close();\ 00047 00048 #define READ_PARAMETER_OR_DEFAULT(F,D)\ 00049 _msl_fin.open((FilePath+""#F"").c_str());\ 00050 if (_msl_fin) {_msl_fin >> F;}\ 00051 else F = D;\ 00052 _msl_fin.close();\ 00053 00054 #define READ_PARAMETER_OR_ERROR(F)\ 00055 _msl_fin.open((FilePath+""#F"").c_str());\ 00056 if (_msl_fin) {_msl_fin >> F; _msl_fin.close();}\ 00057 else {cerr << "Error reading "#F"\n"; exit(-1);}\ 00058 _msl_fin.close();\ 00059 00060 // Convenient list iterator 00061 #define forall(x,S)\ 00062 for (x = S.begin(); x != S.end(); x++)\ 00063 00064 #endif 00065 00066 00067