miscellaneous.h

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#ifndef __MISCELLANEOUS_H_
#define __MISCELLANEOUS_H_

#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include <string.h>
#include <math.h>
#include <time.h>

#include <iostream>
#include <vector>

#include <Eigen/Dense>
#include <armadillo>

#include <phua_haptic/types.h>

//PFLN DEFINITION (CREDITS TO MIKE :-))
#define PFLN {printf("Passing through File [%s] @ Line [%d].\n", __FILE__, __LINE__);}

template <typename Type>
Type RetrievePrecisionFromDouble(Type original, Type precision)
{
  int integer=(int)original;
  Type sub1=(1.0/precision)*(original-(Type)integer);
  return (Type)integer+precision*((Type)round(sub1));
}

template <typename Type>
Type DegToRad(Type deg)
{
#if ROS_VERSION_MINIMUM(1, 8, 0)   //At least FUERTE    , V. Santos, 27-Mai-2013
  return (deg * (Type)M_PI / (Type)180.0);
#else
  return (deg * (Type)arma::datum::pi / (Type)180.0);
#endif
}

template <typename Type>
Type RadToDeg(Type rad)
{
#if ROS_VERSION_MINIMUM(1, 8, 0)   //At least FUERTE    , V. Santos, 27-Mai-2013
  return (rad * (Type)180.0 / (Type)M_PI);
#else
  return (rad * (Type)180.0 / (Type)arma::datum::pi);
#endif
}

void CalculateAverageCartesianSpeed(double diffX, double diffY, double diffZ, long double time_interval, double *return_vector);

double pc_mean(double *v, int len);

Eigen::Matrix3d rotx(double angle_in_degrees);

Eigen::Matrix3d roty(double angle_in_degrees);

Eigen::Matrix3d rotz(double angle_in_degrees);

template <class T>
T pc_mean(std::vector<T> vect)
{
  T sum = 0;
  
  for(uint i = 0; i < vect.size(); i++)
    sum += vect[i];
  
  return sum / vect.size();
}

template <typename Type>
bool IsWithinRange(Type value, Type lower_bound, Type upper_bound)
{
  if(value >= lower_bound && value < upper_bound)
  {
    return TRUE;
  }
  else if(value > lower_bound && value <= upper_bound)
  {
    return TRUE;
  }
  else
  {
    return FALSE;
  }
}

#ifdef _cplusplus
extern "C" {
#endif // _cplusplus

int isNumeric (const char * s);

double get_sign(double x);

//FUNCTIONS I CREATED

//phua_haptic related
void print_help(void);

void print_greeting(shared_vars_t*RobotVars);

//other
int GetNbrFromKeyboard(void);

char GetStrFromKeyboard(void);

double GetDblFromKeyboard(void);

void ScreenClear(void);

//COLOR FUNCTIONS ATTRIBUTES
#define RESET           0
#define BRIGHT          1
#define DIM             2
#define UNDERLINE       3
#define BLINK           4
#define REVERSE         7
#define HIDDEN          8

#define BLACK           0
#define RED             1
#define GREEN           2
#define YELLOW          3
#define BLUE            4
#define MAGENTA         5
#define CYAN            6
#define GRAY            7
#define WHITE           8



void textcolor(int attr, int fg, int bg);

void PrintRedLine(void);

void ResetTextColors(void);

void HighLightText(void);

#ifdef _cplusplus
}
#endif // _cplusplus

#endif