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/********************************************************************
* Description: gotypes.h
* Library file with various functions for working with matrices
*
* Derived from a work by Fred Proctor,
* changed to work with emc2 and HAL
*
* Adapting Author: Alex Joni
* License: LGPL Version 2
* System: Linux
*
*******************************************************************
Similar to posemath, but using different functions.
TODO:
* find the new functions, add them to posemath, convert the rest
*/
#ifndef GO_TYPES_H
#define GO_TYPES_H
#include <float.h> /* DBL_MAX, FLOAT_MAX */
/*!
GO_RESULT symbols run through a small range of values, on the
order of tens, suitable for a byte. GO_RESULT_OK is zero for easy
detection of error conditions, e.g., if (result) { handle error }
*/
enum {
GO_RESULT_OK = 0,
GO_RESULT_IGNORED, /* action can't be done, ignored */
GO_RESULT_BAD_ARGS, /* arguments bad, e.g., null pointer */
GO_RESULT_RANGE_ERROR, /* supplied range value out of bounds */
GO_RESULT_DOMAIN_ERROR, /* resulting domain out of bounds */
GO_RESULT_ERROR, /* action can't be done, a problem */
GO_RESULT_IMPL_ERROR, /* function not implemented */
GO_RESULT_NORM_ERROR, /* a value is expected to be normalized */
GO_RESULT_DIV_ERROR, /* divide by zero */
GO_RESULT_SINGULAR, /* a matrix is singular */
GO_RESULT_NO_SPACE, /* no space for append operation */
GO_RESULT_EMPTY, /* data structure is empty */
GO_RESULT_BUG /* a bug in Go, e.g., unknown case */
};
#define go_result_to_string(r) \
(r) == GO_RESULT_OK ? "Ok" : \
(r) == GO_RESULT_IGNORED ? "Ignored" : \
(r) == GO_RESULT_BAD_ARGS ? "Bad Args" : \
(r) == GO_RESULT_RANGE_ERROR ? "Range Error" : \
(r) == GO_RESULT_DOMAIN_ERROR ? "Domain Error" : \
(r) == GO_RESULT_ERROR ? "General Error" : \
(r) == GO_RESULT_IMPL_ERROR ? "Implementation Error" : \
(r) == GO_RESULT_NORM_ERROR ? "Norm Error" : \
(r) == GO_RESULT_DIV_ERROR ? "Div Error" : \
(r) == GO_RESULT_SINGULAR ? "Singular" : \
(r) == GO_RESULT_NO_SPACE ? "No Space" : \
(r) == GO_RESULT_EMPTY ? "Empty" : \
(r) == GO_RESULT_BUG ? "Bug" : "?"
/*!
Joints are characterized by the quantities they affect, such as
length for linear joints and angle for rotary joints.
*/
enum {
GO_QUANTITY_NONE = 0,
GO_QUANTITY_LENGTH,
GO_QUANTITY_ANGLE
};
#define go_quantity_to_string(q) \
(q) == GO_QUANTITY_LENGTH ? "Length" : \
(q) == GO_QUANTITY_ANGLE ? "Angle" : "None"
/* go_real: float, long double, default double; GO_INF is defined as
the associated max value from float.h */
/*
In IEEE floating point,
FLT_MIN = 1.175494e-38, FLT_EPSILON 1.192093e-07
DBL_MIN = 2.225074e-308, DBL_EPSILON 2.220446e-16
*/
#if defined(GO_REAL_FLOAT)
typedef float go_real;
#define GO_REAL go_real_float
extern int go_real_float;
#define GO_REAL_MIN FLT_MIN
#define GO_REAL_MAX FLT_MAX
#define GO_REAL_EPSILON (1.0e-4)
#define GO_INF FLT_MAX
#elif defined(GO_REAL_LONG_DOUBLE)
typedef long double go_real;
#define GO_REAL go_real_long_double
extern int go_real_long_double;
#define GO_REAL_MIN DBL_MIN
#define GO_REAL_MAX DBL_MAX
#define GO_REAL_EPSILON (1.0e-10)
#define GO_INF DBL_MAX
#else
#define GO_REAL_DOUBLE
typedef double go_real;
#define GO_REAL go_real_double
extern int go_real_double;
#define GO_REAL_MIN DBL_MIN
#define GO_REAL_MAX DBL_MAX
#define GO_REAL_EPSILON (1.0e-7)
#define GO_INF DBL_MAX
#endif
/* go_integer: short, long, long long, default int */
#if defined(GO_INTEGER_SHORT)
typedef short int go_integer;
#define GO_INTEGER go_integer_short
extern int go_integer_short;
#if defined(SHRT_MAX)
#define GO_INTEGER_MAX SHRT_MAX
#endif
#elif defined(GO_INTEGER_LONG)
typedef long int go_integer;
#define GO_INTEGER go_integer_long
extern int go_integer_long;
#if defined(LONG_MAX)
#define GO_INTEGER_MAX LONG_MAX
#endif
#elif defined(GO_INTEGER_LONG_LONG)
typedef long long int go_integer;
#define GO_INTEGER go_integer_long_long
extern int go_integer_long_long;
#if defined(LONG_MAX)
#define GO_INTEGER_MAX LONG_MAX
#endif
#else
#define GO_INTEGER_INT
typedef int go_integer;
#define GO_INTEGER go_integer_int
extern int go_integer_int;
#if defined(INT_MAX)
#define GO_INTEGER_MAX INT_MAX
#endif
#endif
/* go_flag: unsigned short, unsigned int, default unsigned char */
#if defined(GO_FLAG_USHORT)
typedef unsigned short go_flag;
#define GO_FLAG go_flag_ushort
extern int go_flag_ushort;
#elif defined(GO_FLAG_UINT)
typedef unsigned int go_flag;
#define GO_FLAG go_flag_uint
extern int go_flag_uint;
#else
#define GO_FLAG_UCHAR
typedef unsigned char go_flag;
#define GO_FLAG go_flag_uchar
extern int go_flag_uchar;
#endif
#endif /* GO_TYPES_H */
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