DynaOlio.h File Reference

Miscellaneous collection of useful utilities. More...

#include "rnr/rnrconfig.h"
#include "rnr/units.h"

Go to the source code of this file.

Functions
INLINE_IN_H int	imax (int a, int b)
	Return maximum integer of a and b. More...
INLINE_IN_H int	imin (int a, int b)
	Return minimum integer of a and b. More...
INLINE_IN_H int	iabs (int a)
	Return absolute value of a. More...
INLINE_IN_H int	irange (int a, int m, int M)
	Return value of a within minimum,maximum range. More...
INLINE_IN_H int	imod (int a, int b)
	a mod b, ≥ 0. More...
INLINE_IN_H const char *	dynaUnitsSym (units_t u)
	Convert units to short symbol name. More...

Detailed Description

Miscellaneous collection of useful utilities.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file DynaOlio.h.

Function Documentation

INLINE_IN_H const char* dynaUnitsSym

(

units_t

u

)

Convert units to short symbol name.

Parameters

u	Units to look up.

Returns

Symbol name string.

Definition at line 132 of file DynaOlio.h.

{
  return u==units_raw? "": units_shortname(u);
}

INLINE_IN_H int iabs

(

int

a

)

Return absolute value of a.

Parameters

a	Integer value a.

Returns

Absolute value.

Definition at line 91 of file DynaOlio.h.

Referenced by DynaServoGeneric::AgentWriteGoalSpeed(), DynaServoGeneric::AgentWriteGoalSpeedPos(), DynaPidSpeed::CalcDpDt(), DynaBgThread::execPosCtl(), DynaServoGeneric::PackGoalSpeed(), DynaChain::SyncWriteGoalSpeed(), DynaServo::UpdateOdometer(), and DynaServoGeneric::WriteGoalSpeed().

{
  return a>=0? a: -a;
}

INLINE_IN_H int imax	(	int	a,
		int	b
	)

Return maximum integer of a and b.

Parameters

a	Integer value a.
b	Integer value b.

Returns

Maximum value.

Definition at line 66 of file DynaOlio.h.

{
  return a>=b? a: b;
}

INLINE_IN_H int imin	(	int	a,
		int	b
	)

Return minimum integer of a and b.

Parameters

a	Integer value a.
b	Integer value b.

Returns

Minimum value.

Definition at line 79 of file DynaOlio.h.

{
  return a<=b? a: b;
}

INLINE_IN_H int imod	(	int	a,
		int	b
	)

a mod b, ≥ 0.

param a The dividend. param b The divisor.

Returns

The remainder in [0, b-1].

Definition at line 119 of file DynaOlio.h.

Referenced by DynaServo::OdometerToEncoder().

{
  a = a % b;
  return a >= 0? a: a+b;
}

INLINE_IN_H int irange	(	int	a,
		int	m,
		int	M
	)

Return value of a within minimum,maximum range.

Parameters

a	Integer value a.
m	Minimum value of a.
M	Maximum value of a.

Returns

Adjusted value of a in range [m,M].

Definition at line 105 of file DynaOlio.h.

{
  return a<m? m: a>M? M: a;
}