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#include <climits>
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#include <climits>
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#include <cassert>
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#include <cassert>
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#include <algorithm>
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#include <algorithm>
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#include <functional>
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#include <functional>
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#ifdef _MSC_VER // if visual studio
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#include <float.h>
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#endif
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#ifndef M_PI
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#define M_PI 3.14159265358979323846
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#define M_PI_2 1.57079632679489661923
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#define M_PI_2 1.57079632679489661923
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#endif
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#endif
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#define SQRT3 sqrt3()
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#define SQRT3 sqrt3()
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  /// Useful enum that represents coordiante axes.
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  /// Useful enum that represents coordiante axes.
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  enum Axis {XAXIS=0,YAXIS=1,ZAXIS=2};
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  enum Axis {XAXIS=0,YAXIS=1,ZAXIS=2};
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  inline bool isnan(double x) { return x != x; }
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  inline bool isnan(double x) {
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#ifdef _MSC_VER // if visual studio
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      return _isnan(x);
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#else
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      return std::isnan(x);
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#endif
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  }
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  /// Template for a function that squares the argument.
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  /// Template for a function that squares the argument.
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  template <class Scalar>
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  template <class Scalar>
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  inline Scalar sqr(Scalar x) {///
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  inline Scalar sqr(Scalar x) {///
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    return x*x;}
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    return x*x;}