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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
#ifndef _XNV_MATH_COMMON_H_
#define _XNV_MATH_COMMON_H_
#include <math.h>
#include <XnOS.h>
namespace XnVMathCommon
{
inline void Exchange(XnFloat& a, XnFloat& b)
{
XnFloat c = a;
a = b;
b = c;
}
inline void ExchangeSort(XnFloat& a, XnFloat& b)
{
if (a > b)
Exchange(a, b);
}
inline void ExchangeSort(XnFloat& a, XnFloat& b, XnFloat& c)
{
if (a > b)
Exchange(a, b);
if (b > c)
Exchange(b, c);
if (a > b)
Exchange(a, b);
}
inline XnFloat Sqr(XnFloat a)
{
return a*a;
}
inline XnFloat Max(XnFloat a, XnFloat b)
{
return (a > b ? a : b);
}
inline XnFloat Min(XnFloat a, XnFloat b)
{
return (a < b ? a : b);
}
inline XnFloat MaxAbs(XnFloat a, XnFloat b)
{
return Max(fabs(a), fabs(b));
}
inline XnFloat MinAbs(XnFloat a, XnFloat b)
{
return Min(fabs(a), fabs(b));
}
inline XnUInt16 ArgMax(XnFloat a, XnFloat b)
{
return (a > b ? 0 : 1);
}
inline XnUInt16 ArgMax(XnFloat a, XnFloat b, XnFloat c)
{
return (a > b ? (a > c ? 0 : 2) : (b > c ? 1 : 2));
}
inline XnUInt16 ArgMin(XnFloat a, XnFloat b)
{
return ArgMax(-a, -b);
}
inline XnUInt16 ArgMin(XnFloat a, XnFloat b, XnFloat c)
{
return ArgMax(-a, -b, -c);
}
const XnFloat PI=3.14159265f;
const XnFloat HALF_PI=(PI/2);
inline XnBool IsZero(XnFloat f, XnFloat fTolerance)
{
return fabs(f) < fTolerance;
}
}
#endif //_XNV_MATH_COMMON_H_
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