Add OSX compiler support

AirLib/include/control/DroneControlCommon.hpp

@@ -1,131 +1,138 @@
-// Copyright (c) Microsoft Corporation. All rights reserved.
-// Licensed under the MIT License.
-
-#ifndef msr_air_control_VehicleCommon_hpp
-#define msr_air_control_VehicleCommon_hpp
-
-#include "common/Common.hpp"
-namespace msr {
-namespace airlib {
-
-enum class MoveCommandType {
-    Invalid = 0,
-
-    Arm,
-    Disarm,
-    RequestControl,
-    ReleaseControl,
-    TakeOff,
-    Land,
-    Hover,
-    GoHome,
-
-    MoveByAngle,
-    MoveByVelocity,
-    MoveByVelocityZ,
-    MoveToPosition,
-    MoveOnPath,
-    MoveToZ,
-    MoveByManual,
-
-    SetSafety,
-
-    RotateByYawRate,
-    RotateToYaw,
-    Sleep
-};
-
-const string kActionServerName = "drone_move";
-
-enum class DrivetrainType {
-    MaxDegreeOfFreedome = 0,
-    ForwardOnly
-};
-
-//Yaw mode specifies if yaw should be set as angle or angular velocity around the center of drone
-struct YawMode {
-    bool is_rate = true;
-    float yaw_or_rate = 0.0f;
-
-    YawMode()
-    {}
-
-    YawMode(bool is_rate_val, float yaw_or_rate_val) {
-        is_rate = is_rate_val;
-        yaw_or_rate = yaw_or_rate_val;
-    }
-
-    static YawMode Zero() {
-        return YawMode(true, 0);
-    }
-
-    void setZeroRate() {
-        is_rate = true;
-        yaw_or_rate = 0;
-    }
-};
-
-//properties of vehicle
-struct VehicleParams {
-    //what is the breaking distance for given velocity?
-    //currently we support simple linear relationship
-    float vel_to_breaking_dist = 0.5f;   //ideally this should be 2X for very high speed but for testing we are keeping it 0.5
-    float min_vel_to_breaking_dist = 1;
-    float breaking_vel = 0.25f;
-
-    //what is the differential positional accuracy of cur_loc?
-    //this is not same as GPS accuracy because translational errors
-    //usually cancel out. Typically this would be 0.2m or less
-    float distance_accuracy = 0.1f;
-
-    //what is the minimum clearance from obstacles?
-    float obs_clearance = 2;
-
-    //what is the +/-window we should check on obstacle map?
-    //for example 2 means check from ticks -2 to 2
-    int obs_window = 0;
-};
-
-struct RCData {
-    double timestamp;
-    float pitch = 0, roll = 0, throttle = 0, yaw = 0, switch1 = 0, switch2 = 0, switch3 = 0;
-
-    void add(const RCData& other) {
-        pitch += other.pitch;
-        roll += other.roll;
-        throttle += other.throttle;
-        yaw += other.yaw;
-    }
-    void subtract(const RCData& other) {
-        pitch -= other.pitch;
-        roll -= other.roll;
-        throttle -= other.throttle;
-        yaw -= other.yaw;
-    }
-    void divideBy(float k) {
-        pitch /= k;
-        roll /= k;
-        throttle /= k;
-        yaw /= k;
-    }
-    bool isAnyMoreThan(float k) {
-        using std::abs;
-        return abs(pitch) > k || abs(roll) > k || abs(throttle) > k || abs(yaw) > k;
-    }
-    string toString() {
-        return Utils::stringf("RCData[pitch=%f, roll=%f, throttle=%f, yaw=%f]", pitch, roll, throttle, yaw);
-    }
-};
-
-//General exception when move command has runtime errors
-class MoveException : public std::runtime_error {
-  public:
-    MoveException(const std::string& message)
-        : runtime_error(message) {
-    }
-};
-
-
-}
-} //namespace
-#endif
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef msr_air_control_VehicleCommon_hpp
+#define msr_air_control_VehicleCommon_hpp
+
+#include "common/Common.hpp"
+namespace msr {
+namespace airlib {
+
+enum class MoveCommandType {
+    Invalid = 0,
+
+    Arm,
+    Disarm,
+    RequestControl,
+    ReleaseControl,
+    TakeOff,
+    Land,
+    Hover,
+    GoHome,
+
+    MoveByAngle,
+    MoveByVelocity,
+    MoveByVelocityZ,
+    MoveToPosition,
+    MoveOnPath,
+    MoveToZ,
+    MoveByManual,
+
+    SetSafety,
+
+    RotateByYawRate,
+    RotateToYaw,
+    Sleep
+};
+
+const string kActionServerName = "drone_move";
+
+enum class DrivetrainType {
+    MaxDegreeOfFreedome = 0,
+    ForwardOnly
+};
+
+//Yaw mode specifies if yaw should be set as angle or angular velocity around the center of drone
+struct YawMode {
+    bool is_rate = true;
+    float yaw_or_rate = 0.0f;
+
+    YawMode()
+    {}
+
+    YawMode(bool is_rate_val, float yaw_or_rate_val) {
+        is_rate = is_rate_val;
+        yaw_or_rate = yaw_or_rate_val;
+    }
+
+    static YawMode Zero() {
+        return YawMode(true, 0);
+    }
+
+    void setZeroRate() {
+        is_rate = true;
+        yaw_or_rate = 0;
+    }
+};
+
+//properties of vehicle
+struct VehicleParams {
+    //what is the breaking distance for given velocity?
+    //currently we support simple linear relationship
+    float vel_to_breaking_dist = 0.5f;   //ideally this should be 2X for very high speed but for testing we are keeping it 0.5
+    float min_vel_to_breaking_dist = 1;
+    float breaking_vel = 0.25f;
+
+    //what is the differential positional accuracy of cur_loc?
+    //this is not same as GPS accuracy because translational errors
+    //usually cancel out. Typically this would be 0.2m or less
+    float distance_accuracy = 0.1f;
+
+    //what is the minimum clearance from obstacles?
+    float obs_clearance = 2;
+
+    //what is the +/-window we should check on obstacle map?
+    //for example 2 means check from ticks -2 to 2
+    int obs_window = 0;
+    VehicleParams()
+      : vel_to_breaking_dist(0.5f),
+        min_vel_to_breaking_dist(1),
+        breaking_vel(0.25f),
+        distance_accuracy(0.1f),
+        obs_clearance(2),
+        obs_window(0) {}
+};    
+
+struct RCData {
+    double timestamp;
+    float pitch = 0, roll = 0, throttle = 0, yaw = 0, switch1 = 0, switch2 = 0, switch3 = 0;
+
+    void add(const RCData& other) {
+        pitch += other.pitch;
+        roll += other.roll;
+        throttle += other.throttle;
+        yaw += other.yaw;
+    }
+    void subtract(const RCData& other) {
+        pitch -= other.pitch;
+        roll -= other.roll;
+        throttle -= other.throttle;
+        yaw -= other.yaw;
+    }
+    void divideBy(float k) {
+        pitch /= k;
+        roll /= k;
+        throttle /= k;
+        yaw /= k;
+    }
+    bool isAnyMoreThan(float k) {
+        using std::abs;
+        return abs(pitch) > k || abs(roll) > k || abs(throttle) > k || abs(yaw) > k;
+    }
+    string toString() {
+        return Utils::stringf("RCData[pitch=%f, roll=%f, throttle=%f, yaw=%f]", pitch, roll, throttle, yaw);
+    }
+};
+
+//General exception when move command has runtime errors
+class MoveException : public std::runtime_error {
+  public:
+    MoveException(const std::string& message)
+        : runtime_error(message) {
+    }
+};
+
+
+}
+} //namespace
+#endif