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/*****************************************************************************
* *
* PrimeSense PSCommon Library *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of PSCommon. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
#ifndef _XN_MATH_H_
#define _XN_MATH_H_
#include <math.h>
#include <XnPlatform.h>
namespace xnl
{
namespace Math
{
inline XnInt32 Abs(XnInt32 i)
{
return abs(i);
}
inline XnFloat Abs(XnFloat f)
{
return fabs(f);
}
template <class T>
XnBool IsZero(T value, T tolerance)
{
return Abs(value) < tolerance;
}
inline XnFloat Sqr(XnFloat f)
{
return f*f;
}
inline XnFloat Sqrt(XnFloat f)
{
return sqrt(f);
}
inline XnDouble Sqrt(XnDouble f)
{
return sqrt(f);
}
template <class T>
T Min(T value1, T value2)
{
return value1 < value2 ? value1 : value2;
}
template <class T>
T Max(T value1, T value2)
{
return value1 > value2 ? value1 : value2;
}
template<class T>
T Max(const T a, const T b, const T c)
{
return Max(a, Max(b,c));
}
template<class T>
T Max(const T a, const T b, const T c, const T d)
{
return Max(a, Max(b,c,d));
}
template <class T>
T Crop(T value, T upper, T lower)
{
return Min(upper, Max(lower, value));
}
template <class T>
XnBool IsBetween(T value, T upper, T lower)
{
return value < upper && value > lower;
}
template<class T>
XnInt32 ArgMax(const T a, const T b) {
return (a>b) ? 0 : 1;
}
template<class T>
XnInt32 ArgMax(const T a, const T b, const T c) {
return (a>b) ? ((a>c) ? 0 : 2) : ((b>c) ? 1 : 2);
}
template<class T>
XnInt32 ArgMax(const T a, const T b, const T c, const T d) {
return (a>d) ? ArgMax(a,b,c) : ArgMax(b,c,d)+1;
}
template<class T>
XnInt32 ArgMin(const T a, const T b) {
return (a<b) ? 0 : 1;
}
template<class T>
XnInt32 ArgMin(const T a, const T b, const T c) {
return (a<b) ? ((a<c) ? 0 : 2) : ((b<c) ? 1 : 2);
}
template<class T> T MaxAbs(const T a, const T b) { return Max(Abs(a),Abs(b)); }
template<class T> T MaxAbs(const T a, const T b, const T c) { return Max(Abs(a),Abs(b),Abs(c)); }
template<class T> T MaxAbs(const T a, const T b, const T c, const T d) { return Max(Abs(a),Abs(b),Abs(c),Abs(d)); }
template<class T>
void Exchange(T &a, T &b) { T c=a; a=b; b=c; }
template<class T>
void Swap(T &a, T &b) { T c=a; a=b; b=c; }
template<class T>
void ExchangeSort(T &a, T &b)
{
if(a > b) Exchange(a,b);
}
template<class T>
void ExchangeSort(T &a, T &b, T &c)
{
if(a > b) Exchange(a,b);
if(b > c) Exchange(b,c);
if(a > b) Exchange(a,b);
}
template<class T>
struct OneOverSqrtHelper
{
static T OneOverSqrt(T MagSq) {return T(1.0)/Sqrt(MagSq); }
};
template<class T>
inline XnBool IsNaN(const T& scalar)
{
#if defined(_WIN32)
return _isnan(scalar)!=0;
#elif defined(_ARC)
return (scalar != scalar);
// return isnan(scalar);
#else
return isnan(scalar);
#endif
}
#define round(x) ((XnInt32)floor((x)+0.5f))
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
static const XnFloat ONE_THIRD = (XnFloat)(1.0f/3.0f);
static const XnFloat ONE_SIXTH = (XnFloat)(1.0f/6.0f);
static const XnFloat ROOT_TWO __attribute__ ((unused)) = (XnFloat)Sqrt(2.0f);
static const XnFloat ROOT_THREE __attribute__ ((unused)) = (XnFloat)Sqrt(3.0f);
static const XnFloat PI = (XnFloat)M_PI;
static const XnFloat HALF_PI = (XnFloat)(0.5f*M_PI);
static const XnFloat TWO_PI = (XnFloat)(2.0f*M_PI);
static const XnFloat ROOT_TWO_PI __attribute__ ((unused)) = (XnFloat)Sqrt(2.0f*M_PI);
static const XnFloat DTR = (XnFloat)(M_PI / 180.0f);
static const XnFloat RTD = (XnFloat)(180.0f / M_PI);
static const XnFloat PHI __attribute__ ((unused)) = (XnFloat)((-1.0f + Sqrt(5.0f)) / 2.0f);
} // Math
} // xnl
#endif // _XN_MATH_H_
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