DART  6.10.1
Constants.hpp
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32 
33 #ifndef DART_MATH_CONSTANTS_HPP_
34 #define DART_MATH_CONSTANTS_HPP_
35 
36 #include <limits>
37 
38 namespace dart {
39 namespace math {
40 
41 template <typename T>
42 struct constants
43 {
44 
45  static constexpr T pi()
46  {
47  return 3.141592653589793238462643383279502884197169399375105820974944592L;
48  }
49  static constexpr T two_pi()
50  {
51  return 2.0 * pi();
52  }
53  static constexpr T half_pi()
54  {
55  return 0.5 * pi();
56  }
57  static constexpr T pi_sqr()
58  {
59  return pi() * pi();
60  }
61 
63  static constexpr T phi()
64  {
65  return 1.618033988749894848204586834365638117720309179805762862135448623L;
66  }
67 
68  static constexpr T inf()
69  {
70  return std::numeric_limits<T>::infinity();
71  }
72 };
73 
76 
77 } // namespace math
78 } // namespace dart
79 
80 #endif // DART_MATH_CONSTANTS_HPP_
Definition: BulletCollisionDetector.cpp:65
Definition: Constants.hpp:43
static constexpr T pi()
Definition: Constants.hpp:45
static constexpr T inf()
Definition: Constants.hpp:68
static constexpr T two_pi()
Definition: Constants.hpp:49
static constexpr T half_pi()
Definition: Constants.hpp:53
static constexpr T pi_sqr()
Definition: Constants.hpp:57
static constexpr T phi()
The golden ratio.
Definition: Constants.hpp:63