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Define PI and other constant and constexpr instead of macro #1

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12 changes: 6 additions & 6 deletions include/steering_functions/utilities/utilities.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,12 @@

using namespace std;

#define PI 3.1415926535897932384
#define HALF_PI 1.5707963267948966192
#define TWO_PI 6.2831853071795864770
#define SQRT_PI 1.7724538509055160273
#define SQRT_PI_INV 0.56418958354775628695
#define SQRT_TWO_PI_INV 0.39894228040143267794
constexpr double STEERING_PI = 3.1415926535897932384;
constexpr double STEERING_HALF_PI = 1.5707963267948966192;
constexpr double STEERING_TWO_PI = 6.2831853071795864770;
constexpr double STEERING_SQRT_PI = 1.7724538509055160273;
constexpr double STEERING_SQRT_PI_INV = 0.56418958354775628695;
constexpr double STEERING_SQRT_TWO_PI_INV = 0.39894228040143267794;

const double epsilon = 1e-4;

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4 changes: 2 additions & 2 deletions src/dubins_state_space/dubins_state_space.cpp
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Expand Up @@ -142,7 +142,7 @@ Dubins_State_Space::Dubins_Path dubinsRLR(double d, double alpha, double beta)
double tmp = .125 * (6. - d * d + 2. * (ca * cb + sa * sb + d * (sa - sb)));
if (fabs(tmp) < 1.)
{
double p = TWO_PI - acos(tmp);
double p = STEERING_TWO_PI - acos(tmp);
double theta = atan2(ca - cb, d - sa + sb);
double t = twopify(alpha - theta + .5 * p);
double q = twopify(alpha - beta - t + p);
Expand All @@ -160,7 +160,7 @@ Dubins_State_Space::Dubins_Path dubinsLRL(double d, double alpha, double beta)
double tmp = .125 * (6. - d * d + 2. * (ca * cb + sa * sb - d * (sa - sb)));
if (fabs(tmp) < 1.)
{
double p = TWO_PI - acos(tmp);
double p = STEERING_TWO_PI - acos(tmp);
double theta = atan2(-ca + cb, d + sa - sb);
double t = twopify(-alpha + theta + .5 * p);
double q = twopify(beta - alpha - t + p);
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16 changes: 8 additions & 8 deletions src/filter/ekf.cpp
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Expand Up @@ -65,10 +65,10 @@ void EKF::get_motion_jacobi(const State &state, const Control &control, double i
double abs_sigma = fabs(control.sigma);
double sqrt_sigma_inv = 1 / sqrt(abs_sigma);
double k1 = state.theta - 0.5 * d * state.kappa * state.kappa / control.sigma;
double k2 = SQRT_PI_INV * sqrt_sigma_inv * (abs_sigma * integration_step + sgn_sigma * state.kappa);
double k3 = SQRT_PI_INV * sqrt_sigma_inv * sgn_sigma * state.kappa;
double k4 = k1 + d * sgn_sigma * HALF_PI * k2 * k2;
double k5 = k1 + d * sgn_sigma * HALF_PI * k3 * k3;
double k2 = STEERING_SQRT_PI_INV * sqrt_sigma_inv * (abs_sigma * integration_step + sgn_sigma * state.kappa);
double k3 = STEERING_SQRT_PI_INV * sqrt_sigma_inv * sgn_sigma * state.kappa;
double k4 = k1 + d * sgn_sigma * STEERING_HALF_PI * k2 * k2;
double k5 = k1 + d * sgn_sigma * STEERING_HALF_PI * k3 * k3;
double cos_k1 = cos(k1);
double sin_k1 = sin(k1);
double cos_k4 = cos(k4);
Expand All @@ -86,9 +86,9 @@ void EKF::get_motion_jacobi(const State &state, const Control &control, double i
F_x(0, 0) = 1.0;
F_x(1, 1) = 1.0;

F_x(0, 2) = SQRT_PI * sqrt_sigma_inv *
F_x(0, 2) = STEERING_SQRT_PI* sqrt_sigma_inv *
(-d * sin_k1 * (fresnel_c_k2 - fresnel_c_k3) - sgn_sigma * cos_k1 * (fresnel_s_k2 - fresnel_s_k3));
F_x(1, 2) = SQRT_PI * sqrt_sigma_inv *
F_x(1, 2) = STEERING_SQRT_PI* sqrt_sigma_inv *
(d * cos_k1 * (fresnel_c_k2 - fresnel_c_k3) - sgn_sigma * sin_k1 * (fresnel_s_k2 - fresnel_s_k3));
F_x(2, 2) = 1.0;

Expand All @@ -97,11 +97,11 @@ void EKF::get_motion_jacobi(const State &state, const Control &control, double i
F_u(1, 0) = sin_k4;
F_u(2, 0) = state.kappa + control.sigma * integration_step;

F_u(0, 1) = SQRT_PI * sqrt_sigma_inv * state.kappa *
F_u(0, 1) = STEERING_SQRT_PI* sqrt_sigma_inv * state.kappa *
(sgn_sigma * sin_k1 * (fresnel_c_k2 - fresnel_c_k3) + d * cos_k1 * (fresnel_s_k2 - fresnel_s_k3)) /
abs_sigma +
d * (cos_k4 - cos_k5) / control.sigma;
F_u(1, 1) = SQRT_PI * sqrt_sigma_inv * state.kappa *
F_u(1, 1) = STEERING_SQRT_PI* sqrt_sigma_inv * state.kappa *
(-sgn_sigma * cos_k1 * (fresnel_c_k2 - fresnel_c_k3) + d * sin_k1 * (fresnel_s_k2 - fresnel_s_k3)) /
abs_sigma +
d * (sin_k4 - sin_k5) / control.sigma;
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24 changes: 12 additions & 12 deletions src/hc_cc_state_space/cc00_dubins_state_space.cpp
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Expand Up @@ -63,22 +63,22 @@ class CC00_Dubins_State_Space::CC00_Dubins
{
if (c1.forward)
{
theta = angle + HALF_PI - c1.mu;
theta = angle + STEERING_HALF_PI - c1.mu;
}
else
{
theta = angle + HALF_PI + c1.mu;
theta = angle + STEERING_HALF_PI + c1.mu;
}
}
else
{
if (c1.forward)
{
theta = angle - HALF_PI + c1.mu;
theta = angle - STEERING_HALF_PI + c1.mu;
}
else
{
theta = angle - HALF_PI - c1.mu;
theta = angle - STEERING_HALF_PI - c1.mu;
}
}
*q = new Configuration(x, y, theta, 0);
Expand Down Expand Up @@ -145,9 +145,9 @@ class CC00_Dubins_State_Space::CC00_Dubins
{
theta = angle - alpha;
global_frame_change(c1.xc, c1.yc, theta, delta_x, delta_y, &x, &y);
*q1 = new Configuration(x, y, theta + PI, 0);
*q1 = new Configuration(x, y, theta + STEERING_PI, 0);
global_frame_change(c2.xc, c2.yc, theta, -delta_x, -delta_y, &x, &y);
*q2 = new Configuration(x, y, theta + PI, 0);
*q2 = new Configuration(x, y, theta + STEERING_PI, 0);
}
if (!c1.left && c1.forward)
{
Expand All @@ -161,9 +161,9 @@ class CC00_Dubins_State_Space::CC00_Dubins
{
theta = angle + alpha;
global_frame_change(c1.xc, c1.yc, theta, delta_x, -delta_y, &x, &y);
*q1 = new Configuration(x, y, theta + PI, 0);
*q1 = new Configuration(x, y, theta + STEERING_PI, 0);
global_frame_change(c2.xc, c2.yc, theta, -delta_x, delta_y, &x, &y);
*q2 = new Configuration(x, y, theta + PI, 0);
*q2 = new Configuration(x, y, theta + STEERING_PI, 0);
}
}

Expand All @@ -184,9 +184,9 @@ class CC00_Dubins_State_Space::CC00_Dubins
if (c1.left && !c1.forward)
{
global_frame_change(c1.xc, c1.yc, theta, delta_x, delta_y, &x, &y);
*q1 = new Configuration(x, y, theta + PI, 0);
*q1 = new Configuration(x, y, theta + STEERING_PI, 0);
global_frame_change(c2.xc, c2.yc, theta, -delta_x, delta_y, &x, &y);
*q2 = new Configuration(x, y, theta + PI, 0);
*q2 = new Configuration(x, y, theta + STEERING_PI, 0);
}
if (!c1.left && c1.forward)
{
Expand All @@ -198,9 +198,9 @@ class CC00_Dubins_State_Space::CC00_Dubins
if (!c1.left && !c1.forward)
{
global_frame_change(c1.xc, c1.yc, theta, delta_x, -delta_y, &x, &y);
*q1 = new Configuration(x, y, theta + PI, 0);
*q1 = new Configuration(x, y, theta + STEERING_PI, 0);
global_frame_change(c2.xc, c2.yc, theta, -delta_x, -delta_y, &x, &y);
*q2 = new Configuration(x, y, theta + PI, 0);
*q2 = new Configuration(x, y, theta + STEERING_PI, 0);
}
}

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