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