Constants.hpp

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#ifndef DART_MATH_CONSTANTS_HPP_
#define DART_MATH_CONSTANTS_HPP_
 
#include <limits>
 
namespace dart {
namespace math {
 
template <typename T>
struct constants {
 
  static constexpr T pi()
      { return 3.141592653589793238462643383279502884197169399375105820974944592L; }
  static constexpr T two_pi()  { return 2.0 * pi();  }
  static constexpr T half_pi() { return 0.5 * pi();  }
  static constexpr T pi_sqr()  { return pi() * pi(); }
 
  static constexpr T phi()
      { return 1.618033988749894848204586834365638117720309179805762862135448623L; }
 
  static constexpr T inf() { return std::numeric_limits<T>::infinity(); }
 
};
 
using constantsf = constants<float>;
using constantsd = constants<double>;
 
}  // namespace math
}  // namespace dart
 
#endif  // DART_MATH_CONSTANTS_HPP_