/*****************************************************************************
 * PROJECT: AAAI Challenge
 *
 * (c) Copyright 2002 Reid Simmons & Nick Roy. All rights reserved.
 *
 * FILE: commonInterface.h
 *
 * ABSTRACT: Typedefs, macros, and functions commonly needed by interfaces
 *
 * $Source: /usr3/Challenge/challenge/src/interfaces/commonInterface.h,v $
 * $Revision: 1.1.1.1 $
 * $Date: 2002/05/02 15:30:51 $
 * $Author: nickr $
 *
 * REVISION HISTORY:
 * $Log: commonInterface.h,v $
 * Revision 1.1.1.1  2002/05/02 15:30:51  nickr
 * First import of AAAI Challenge software
 *
 ****************************************************************/

#ifndef COMMON_INTERFACE_H 
#define COMMON_INTERFACE_H

#include <math.h>

typedef double Meters;
typedef double Radians;
typedef double M_Per_Sec;
typedef double Rad_Per_Sec;
typedef double Meters_Per_Cell;
typedef double Degrees;

typedef struct {
  double time;
  char host[10];
} Timestamp, *Timestamp_p;

typedef struct {
  Meters x;
  Meters y;
} Point, *Point_p;

typedef struct {
  Meters x;
  Meters y;
  Radians theta;
} Pose, *Pose_p;

Timestamp set_timestamp (void);

inline Degrees rad_to_deg(Radians theta) { return ((theta) * 180.0 / M_PI); }
inline Radians deg_to_rad(Degrees angle) { return ((angle) * M_PI / 180.0); }

Radians _pi_to_pi(Radians theta);

#endif