amino  1.0-beta2
Lightweight Robot Utility Library
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amino.h
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1 /* -*- mode: C; c-basic-offset: 4; -*- */
2 /* ex: set shiftwidth=4 tabstop=4 expandtab: */
3 /*
4  * Copyright (c) 2010-2011, Georgia Tech Research Corporation
5  * All rights reserved.
6  *
7  * Author(s): Neil T. Dantam <ntd@gatech.edu>
8  * Georgia Tech Humanoid Robotics Lab
9  * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
10  *
11  *
12  * This file is provided under the following "BSD-style" License:
13  *
14  *
15  * Redistribution and use in source and binary forms, with or
16  * without modification, are permitted provided that the following
17  * conditions are met:
18  *
19  * * Redistributions of source code must retain the above copyright
20  * notice, this list of conditions and the following disclaimer.
21  *
22  * * Redistributions in binary form must reproduce the above
23  * copyright notice, this list of conditions and the following
24  * disclaimer in the documentation and/or other materials provided
25  * with the distribution.
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28  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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41  */
42 
43 #ifndef AMINO_H
44 #define AMINO_H
45 
57 // include everything we'll typically need
58 #ifdef __cplusplus
59 #include <cstdlib>
60 #include <cstring>
61 #include <cmath>
62 #include <cstdio>
63 #include <cassert>
64 #include <ctime>
65 #include <stdint.h>
66 #include <iostream>
67 #include <vector>
68 #include <map>
69 #include <queue>
70 #include <stack>
71 #include <string>
72 #else
73 #include <assert.h>
74 #include <stdlib.h>
75 #include <stdint.h>
76 #include <string.h>
77 #include <stdio.h>
78 #include <math.h>
79 #include <errno.h>
80 #include <stdarg.h>
81 #endif //__cplusplus
82 
83 #include "amino/cblas_order.h"
84 
85 
86 #include <time.h>
87 
88 // for C symbols
89 #ifdef __cplusplus
90 #define AA_API extern "C"
91 #define AA_EXTERN extern "C"
92 #define AA_RESTRICT
93 #else
94 #define AA_API
96 #define AA_EXTERN extern
98 #define AA_RESTRICT restrict
100 #endif //__cplusplus
101 
103 #define AA_DEPRECATED __attribute__ ((deprecated))
104 
106 #define AA_IBILLION 1000000000
107 #define AA_IMILLION 1000000
109 
111 #define AA_QUOTE(X) (#X)
112 
114 #define AA_ENUM_SYM_CASE( res, sym ) case sym: (res) = #sym; break;
115 
117 #define AA_SWAP(a,b) \
118  { \
119  const __typeof__(a) aa_$_tmpa = (a); \
120  const __typeof__(b) aa_$_tmpb = (b); \
121  (a) = aa_$_tmpb; \
122  (b) = aa_$_tmpa; \
123  }
124 
125 
126 // include our own headers
127 #include "amino/mem.h"
128 #include "amino/math.h"
129 #include "amino/la.h"
130 #include "amino/tf.h"
131 #include "amino/lapack.h"
132 #include "amino/clapack.h"
133 #include "amino/time.h"
134 #include "amino/debug.h"
135 #include "amino/plot.h"
136 #include "amino/kin.h"
137 #include "amino/type.h"
138 #include "amino/endconv.h"
139 #include "amino/unit.h"
140 #include "amino/validate.h"
141 #include "amino/io.h"
142 #include "amino/cv.h"
143 #include "amino/const.h"
144 #include "amino/heap.h"
145 
146 
147 #endif //AMINO_H
Numerical routines.
Memory Management.
Routines to convert numbers to different endian formats.
Validation of data.
Simple Heap / Heapsort.
Linear algebra routines.
Low-level operations for SE(3) orientations and transformations.