2
#define PI (3.14159265358979232846)
6
#define PI2 (6.28318530717958465692)
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#define D2R (0.01745329348) /* (2*pi)/360 */
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#define R2D (57.29577951) /* 360/(2*pi) */
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#define MAX(x,y) ((x)>(y) ?(x):(y))
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#define MIN(x,y) ((x)<(y) ?(x):(y))
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#define ABS(x) ((x)<0 ?(-(x)):(x))
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#define SGN(x) ((x)<0 ?(-1):((x)==0?(0):(1)))
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#define MAX_HWORD (32767)
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#define MIN_HWORD (-32768)