Stop using non-standard M_PI

PickNikRobotics · Dec 12, 2023 · f9910d7 · f9910d7
1 parent 4dc8804
commit f9910d7
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/random.cpp b/src/random.cpp
@@ -30,12 +30,14 @@ auto rng(std::seed_seq seed_sequence) -> std::mt19937& {
 }
 
 auto random_unit_quaternion() -> Eigen::Quaterniond {
+    static constexpr auto pi = 3.1415926535897932385;
+
     // From "Uniform Random Rotations", Ken Shoemake, Graphics Gems III, pg. 124-132
     auto const x0 = uniform_real(0., 1.);
     auto const r1 = std::sqrt(1 - x0);
     auto const r2 = std::sqrt(x0);
-    auto const t1 = uniform_real(0., 2 * M_PI);
-    auto const t2 = uniform_real(0., 2 * M_PI);
+    auto const t1 = uniform_real(0., 2 * pi);
+    auto const t2 = uniform_real(0., 2 * pi);
     auto const x = r1 * std::sin(t1);
     auto const y = r1 * std::cos(t1);
     auto const z = r2 * std::sin(t2);