player_macros.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2006 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef PLAYER_MACROS_H
00011 #define PLAYER_MACROS_H
00012 
00013 // A set of macros, copied from Player, used by vfh_algorithm.cc
00014 
00015 /* never worry about timersub type activies again -- from GLIBC and upcased. */
00016 #define TIMESUB(a, b, result)                                                 \
00017   do {                                                                        \
00018     (result)->tv_sec = (a)->tv_sec - (b)->tv_sec;                             \
00019     (result)->tv_usec = (a)->tv_usec - (b)->tv_usec;                          \
00020     if ((result)->tv_usec < 0) {                                              \
00021       --(result)->tv_sec;                                                     \
00022       (result)->tv_usec += 1000000;                                           \
00023     }                                                                         \
00024   } while (0)
00025 
00026 #endif