23 #include <flexiport/port.h>
32 typedef unsigned char uint8_t;
33 typedef unsigned int uint32_t;
34 #if defined(HOKUYO_AIST_STATIC)
35 #define HOKUYO_AIST_EXPORT
36 #elif defined(HOKUYO_AIST_EXPORTS)
37 #define HOKUYO_AIST_EXPORT __declspec(dllexport)
39 #define HOKUYO_AIST_EXPORT __declspec(dllimport)
43 #define HOKUYO_AIST_EXPORT
54 double const M_PI = 3.14159265358979323846;
58 inline double RTOD(
double rad)
60 return rad * 180.0 / M_PI;
65 inline double DTOR(
double deg)
67 return deg * M_PI / 180.0;
76 typename std::vector<T>::iterator first(v.begin());
77 typename std::vector<T>::iterator
median(first + (v.end() - first) / 2);
78 std::nth_element(first, median, v.end());