1  /********************************************************************
  2  * Description: gotypes.h
  3  *   Library file with various functions for working with matrices
  4  *
  5  *   Derived from a work by Fred Proctor,
  6  *   changed to work with emc2 and HAL
  7  *
  8  * Adapting Author: Alex Joni
  9  * License: LGPL Version 2
 10  * System: Linux
 11  *    
 12  *******************************************************************
 13      Similar to posemath, but using different functions.
 14      
 15      TODO: 
 16  	* find the new functions, add them to posemath, convert the rest
 17  */
 18  
 19  
 20  #ifndef GO_TYPES_H
 21  #define GO_TYPES_H
 22  
 23  #include <float.h>		/* DBL_MAX, FLOAT_MAX */
 24  
 25  /*!
 26    GO_RESULT symbols run through a small range of values, on the
 27    order of tens, suitable for a byte.  GO_RESULT_OK is zero for easy
 28    detection of error conditions, e.g., if (result) { handle error }
 29  */
 30  enum {
 31    GO_RESULT_OK = 0,
 32    GO_RESULT_IGNORED,		/* action can't be done, ignored */
 33    GO_RESULT_BAD_ARGS,		/* arguments bad, e.g., null pointer */
 34    GO_RESULT_RANGE_ERROR,	/* supplied range value out of bounds */
 35    GO_RESULT_DOMAIN_ERROR,	/* resulting domain out of bounds */
 36    GO_RESULT_ERROR,		/* action can't be done, a problem */
 37    GO_RESULT_IMPL_ERROR,		/* function not implemented */
 38    GO_RESULT_NORM_ERROR,		/* a value is expected to be normalized */
 39    GO_RESULT_DIV_ERROR,		/* divide by zero */
 40    GO_RESULT_SINGULAR,		/* a matrix is singular */
 41    GO_RESULT_NO_SPACE,		/* no space for append operation */
 42    GO_RESULT_EMPTY,		/* data structure is empty */
 43    GO_RESULT_BUG			/* a bug in Go, e.g., unknown case */
 44  };
 45  
 46  #define go_result_to_string(r)				\
 47  (r) == GO_RESULT_OK ? "Ok" :				\
 48  (r) == GO_RESULT_IGNORED ? "Ignored" :			\
 49  (r) == GO_RESULT_BAD_ARGS ? "Bad Args" :		\
 50  (r) == GO_RESULT_RANGE_ERROR ? "Range Error" :		\
 51  (r) == GO_RESULT_DOMAIN_ERROR ? "Domain Error" :	\
 52  (r) == GO_RESULT_ERROR ? "General Error" :		\
 53  (r) == GO_RESULT_IMPL_ERROR ? "Implementation Error" :	\
 54  (r) == GO_RESULT_NORM_ERROR ? "Norm Error" :		\
 55  (r) == GO_RESULT_DIV_ERROR ? "Div Error" :		\
 56  (r) == GO_RESULT_SINGULAR ? "Singular" :		\
 57  (r) == GO_RESULT_NO_SPACE ? "No Space" :		\
 58  (r) == GO_RESULT_EMPTY ? "Empty" :			\
 59  (r) == GO_RESULT_BUG ? "Bug" : "?"
 60  
 61  /*!
 62    Joints are characterized by the quantities they affect, such as
 63    length for linear joints and angle for rotary joints.
 64  */
 65  enum {
 66    GO_QUANTITY_NONE = 0,
 67    GO_QUANTITY_LENGTH,
 68    GO_QUANTITY_ANGLE
 69  };
 70  
 71  #define go_quantity_to_string(q)		\
 72  (q) == GO_QUANTITY_LENGTH ? "Length" :		\
 73  (q) == GO_QUANTITY_ANGLE ? "Angle" : "None"
 74  
 75  /* go_real: float, long double, default double; GO_INF is defined as
 76   the associated max value from float.h */
 77  
 78  /*
 79    In IEEE floating point,
 80  
 81    FLT_MIN = 1.175494e-38, FLT_EPSILON 1.192093e-07
 82    DBL_MIN = 2.225074e-308, DBL_EPSILON 2.220446e-16
 83  */
 84  
 85  #if defined(GO_REAL_FLOAT)
 86  typedef float go_real;
 87  #define GO_REAL go_real_float
 88  extern int go_real_float;
 89  #define GO_REAL_MIN FLT_MIN
 90  #define GO_REAL_MAX FLT_MAX
 91  #define GO_REAL_EPSILON (1.0e-4)
 92  #define GO_INF FLT_MAX
 93  
 94  #elif defined(GO_REAL_LONG_DOUBLE)
 95  typedef long double go_real;
 96  #define GO_REAL go_real_long_double
 97  extern int go_real_long_double;
 98  #define GO_REAL_MIN DBL_MIN
 99  #define GO_REAL_MAX DBL_MAX
100  #define GO_REAL_EPSILON (1.0e-10)
101  #define GO_INF DBL_MAX
102  
103  #else
104  #define GO_REAL_DOUBLE
105  typedef double go_real;
106  #define GO_REAL go_real_double
107  extern int go_real_double;
108  #define GO_REAL_MIN DBL_MIN
109  #define GO_REAL_MAX DBL_MAX
110  #define GO_REAL_EPSILON (1.0e-7)
111  #define GO_INF DBL_MAX
112  #endif
113  
114  /* go_integer: short, long, long long, default int */
115  
116  #if defined(GO_INTEGER_SHORT)
117  typedef short int go_integer;
118  #define GO_INTEGER go_integer_short
119  extern int go_integer_short;
120  #if defined(SHRT_MAX)
121  #define GO_INTEGER_MAX SHRT_MAX
122  #endif
123  
124  #elif defined(GO_INTEGER_LONG)
125  typedef long int go_integer;
126  #define GO_INTEGER go_integer_long
127  extern int go_integer_long;
128  #if defined(LONG_MAX)
129  #define GO_INTEGER_MAX LONG_MAX
130  #endif
131  
132  #elif defined(GO_INTEGER_LONG_LONG)
133  typedef long long int go_integer;
134  #define GO_INTEGER go_integer_long_long
135  extern int go_integer_long_long;
136  #if defined(LONG_MAX)
137  #define GO_INTEGER_MAX LONG_MAX
138  #endif
139  
140  #else
141  #define GO_INTEGER_INT
142  typedef int go_integer;
143  #define GO_INTEGER go_integer_int
144  extern int go_integer_int;
145  #if defined(INT_MAX)
146  #define GO_INTEGER_MAX INT_MAX
147  #endif
148  #endif
149  
150  /* go_flag: unsigned short, unsigned int, default unsigned char */
151  
152  #if defined(GO_FLAG_USHORT)
153  typedef unsigned short go_flag;
154  #define GO_FLAG go_flag_ushort
155  extern int go_flag_ushort;
156  
157  #elif defined(GO_FLAG_UINT)
158  typedef unsigned int go_flag;
159  #define GO_FLAG go_flag_uint
160  extern int go_flag_uint;
161  
162  #else
163  #define GO_FLAG_UCHAR
164  typedef unsigned char go_flag;
165  #define GO_FLAG go_flag_uchar
166  extern int go_flag_uchar;
167  #endif
168  
169  #endif /* GO_TYPES_H */