mtt_auxiliar.h

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#ifndef _MTT_AUXILIAR_H_
#define _MTT_AUXILIAR_H_

#define mtic my_tictoc(1)
#define mtoc my_tictoc(0)
#define TIC 1
#define TOC 0

#include "mtt_common.h"

double get_fps(double dt,t_fps*acc);

void init_flags(t_flag*flags);

void init_config(t_config*config);

int my_tictoc(int status);

int timediff(struct timeval t1,struct timeval t2);

double point2line_distance(double alpha,double ro,double x,double y);

double point2point_algebric_distance(double xi,double yi,double xf,double yf);

double point2point_distance(double xi,double yi,double xf,double yf);

void CreateMeasurementFromDisplacement(double dx,double dy,double dtheta,double z[2],double dt,double l,double bwa);
void ConvertEstimatedToMeasurment(double vl,double dir,float*dx,float*dy,float*dtheta,double dt,double l,double bwa);

#endif