hpp-constraints: include/hpp/constraints/macros.hh Source File

hpp-constraints 9.0.2 Definition of basic geometric constraints for motion planning

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macros.hh
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1// Copyright (c) 2015 CNRS
2// Author: Joseph Mirabel
3//
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CONSTRAINTS_MACROS_HH
31#define HPP_CONSTRAINTS_MACROS_HH
32
33#ifdef HPP_DEBUG
34
35#define HPP_DEBUG_SVDCHECK(svd) \
36 do { \
37 if (svd.rank() > 0) { \
38 value_type SSV = svd.singularValues()(svd.rank() - 1); \
39 if (std::abs(SSV) < 1e-8) { \
40 hppDout(warning, "SVD check - low singular value: " << SSV); \
41 } \
42 } \
43 } while (0)
44
45#ifdef HPP_CONSTRAINTS_NUMERIC_DEBUG
46
47#define hppDnum(channel, data) hppDout(channel, data)
48
49#else // HPP_CONSTRAINTS_NUMERIC_DEBUG
50
51#define hppDnum(channel, data) \
52 do { \
53 } while (0)
54
55#endif // HPP_CONSTRAINTS_NUMERIC_DEBUG
56
57#else // HPP_DEBUG
58
59#define HPP_DEBUG_SVDCHECK(svd) \
60 do { \
61 } while (0)
62#define hppDnum(channel, data) \
63 do { \
64 } while (0)
65
66#endif // HPP_DEBUG
67
68#endif // HPP_CONSTRAINTS_MACROS_HH