mathutil.h Source File

00001 /*
00002     Dynamics/Kinematics modeling and simulation library.
00003     Copyright (C) 1999 by Michael Alexander Ewert
00004 
00005     This library is free software; you can redistribute it and/or
00006     modify it under the terms of the GNU Library General Public
00007     License as published by the Free Software Foundation; either
00008     version 2 of the License, or (at your option) any later version.
00009 
00010     This library is distributed in the hope that it will be useful,
00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013     Library General Public License for more details.
00014 
00015     You should have received a copy of the GNU Library General Public
00016     License along with this library; if not, write to the Free
00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019 */
00020 
00021 #ifndef CT_MATH_UTIL_H
00022 #define CT_MATH_UTIL_H
00023 
00024 #include "csphyzik/phyztype.h"
00025 #include "csphyzik/ctvector.h"
00026 #include "csphyzik/ctmatrix.h"
00027 #include <stdarg.h>
00028 
00029 #ifndef PI
00030 #define PI 3.1412L
00031 #endif
00032 #define degree_to_rad( A ) ( 2.0*A*PI/360.0 )
00033 
00035 void R_from_vector_and_angle ( ctVector3 pvec, real pangle, ctMatrix3 &pR );
00036 
00038 real angle_diff ( ctVector3 v1, ctVector3 v2 );
00039 
00042 real mu_max ( int pnum, ... );
00043 real sign ( real pval );
00044 
00045 #endif