useful_functions.h

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/*
 * Main header of some useful functions
 *
 * authors: Nicolas Van der Noot & Aubain Verle
 */
#ifndef _USEFUL_FUNCTIONS_H_
#define _USEFUL_FUNCTIONS_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define MIN(a,b) (((a)<(b))?(a):(b))
#define MAX(a,b) (((a)>(b))?(a):(b))
 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
 
#include "mbs_data.h"
#include "mbs_1D_array.h"
#include "mbs_matrix.h"
 
#ifndef DBL_MAX
#define DBL_MAX 1.7976931348623158e+308
#endif
 
void* mbs_free(void *__ptr);
 
void mbs_log(char* msg, ...);
 
 
// exponents related functions
double pow_int(double basis, int expo);
 
int expo_ten_inf(double nb);
 
// sign function
double sign(double a);
 
// time function
char* get_time_machine();
 
// char related functions
char* get_char_vec(int l_v);
char** get_char_tab(int nb_r, int nb_c);
void free_char_vec(char *vec);
 
char* get_char_cpy(const char *fmt, ...);
 
int set_char_cpy(char **dest, const char *fmt, ...);
 
int set_um_string(char **um_str, const char *new_txt);
 
void free_char_tab(char** mat);
 
char *str_replace_char(char* orig, const char old_char, const char *new_str, int free_orig);
 
double*** get_d3Darray_1(int x, int y, int z);
 
double*** get_d3Darray_0(int nb_r, int nb_c, int z);
 
void free_d3Darray_0(double*** array3D);
void free_d3Darray_1(double*** array3D);
 
void free_d3Darray_0(double ***array3D);
 
/*
 * Print values of mbs_data (used for debug)
 *
 * WARNING: This function is not updated daily with new functionnalities of MbsData.
 *
 */
void mbs_print_data(MbsData *mbs_data);
 
void mbs_copy_data(MbsData* s, MbsData* s_copy);
 
void mbs_reset_joints_kine(MbsData *s);
 
void mbs_reset_data(MbsData* s);
 
int mbs_write_data(MbsData *mbs, char *filename, char *function_name);
 
int mbs_compare_data(MbsData *s1, MbsData *s2, int accelred);
 
int mbs_strcmp(const char* __s1, const char* __s2);
 
int mbs_stricmp(const char* __s1, const char* __s2);
 
#ifdef __cplusplus
}
#endif
 
#endif