Math.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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 */

#ifndef _MIRA_MATH_H_
#define _MIRA_MATH_H_

#include <cmath>

#ifndef Q_MOC_RUN
// Include for boost::math::isnan, ...
#include <boost/math/special_functions/fpclassify.hpp>
// include round
#include <boost/math/special_functions/round.hpp>
// include constants
#include <boost/version.hpp>
#include <boost/math/constants/constants.hpp>
#endif

namespace boost { namespace math { namespace constants {

// boost >= 1.50 need three arguments for BOOST_DEFINE_MATH_CONSTANT
#if (BOOST_VERSION >= 105000)

#if (BOOST_VERSION < 107400)
// pi/4
BOOST_DEFINE_MATH_CONSTANT(quarter_pi,     0.78539816339744830961566084581987572104929234984378,  "0.78539816339744830961566084581987572104929234984378")
#endif
// pi / 180
BOOST_DEFINE_MATH_CONSTANT(pi_div_deg180,  0.017453292519943295769236907684886127134428718885417, "0.017453292519943295769236907684886127134428718885417")
// 180 / pi
BOOST_DEFINE_MATH_CONSTANT(deg180_div_pi, 57.295779513082320876798154814105170332405472466564,    "57.295779513082320876798154814105170332405472466564")
#endif

// boost < 1.50 need four arguments for BOOST_DEFINE_MATH_CONSTANT
#if (BOOST_VERSION < 105000)
// pi/2
BOOST_DEFINE_MATH_CONSTANT(half_pi,        1.5707963267948966192313216916397514420985846996876,   0, 0)
// pi/4
BOOST_DEFINE_MATH_CONSTANT(quarter_pi,     0.78539816339744830961566084581987572104929234984378,  0, 0)
// pi / 180
BOOST_DEFINE_MATH_CONSTANT(pi_div_deg180,  0.017453292519943295769236907684886127134428718885417, 0, 0)
// 180 / pi
BOOST_DEFINE_MATH_CONSTANT(deg180_div_pi, 57.295779513082320876798154814105170332405472466564,    0, 0)
#endif

// for older boost versions define several useful constants that are part of boost >=1.46
#if (BOOST_VERSION < 104600)
BOOST_DEFINE_MATH_CONSTANT(two_pi,              6.2831853071795864769252867665590057683943388015061,  0, 0)
BOOST_DEFINE_MATH_CONSTANT(half_root_two,       0.70710678118654752440084436210484903928483593756084, 0, 0)
BOOST_DEFINE_MATH_CONSTANT(one_div_root_two,    0.70710678118654752440084436210484903928483593756084, 0, 0)
BOOST_DEFINE_MATH_CONSTANT(one_div_root_two_pi, 0.39894228040143267793994605993438186847585863095671, 0, 0)
#endif

}}}

// inject into our namespace
namespace mira {
    using boost::math::round;
    using namespace boost::math::constants;
}


#endif