Gazebo Math

API Reference

7.5.1
gz/math/Angle.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_MATH_ANGLE_HH_
18 #define GZ_MATH_ANGLE_HH_
19 
20 #include <istream>
21 #include <ostream>
22 #include <gz/math/Helpers.hh>
23 #include <gz/math/config.hh>
24 
29 #define GZ_RTOD(r) ((r) * 180 / GZ_PI)
30 
35 #define GZ_DTOR(d) ((d) * GZ_PI / 180)
36 
41 #define GZ_NORMALIZE(a) (atan2(sin(a), cos(a)))
42 
43 namespace gz::math
44 {
45  // Inline bracket to help doxygen filtering.
46  inline namespace GZ_MATH_VERSION_NAMESPACE {
47  //
60  class GZ_MATH_VISIBLE Angle
61  {
64  public: static const Angle &Zero;
65 
68  public: static const Angle &Pi;
69 
72  public: static const Angle &HalfPi;
73 
76  public: static const Angle &TwoPi;
77 
80  public: Angle() = default;
81 
89  //
91  // cppcheck-suppress noExplicitConstructor
92  public: constexpr Angle(double _radian)
93  : value(_radian)
94  {
95  }
96 
100  public: void GZ_DEPRECATED(7) Radian(double _radian);
101 
104  public: void SetRadian(double _radian);
105 
109  public: void GZ_DEPRECATED(7) Degree(double _degree);
110 
113  public: void SetDegree(double _degree);
114 
117  public: double Radian() const;
118 
121  public: double Degree() const;
122 
126  public: void Normalize();
127 
131  public: Angle Normalized() const;
132 
135  public: double operator()() const;
136 
139  public: inline double operator*() const
140  {
141  return value;
142  }
143 
147  public: Angle operator-(const Angle &_angle) const;
148 
152  public: Angle operator+(const Angle &_angle) const;
153 
157  public: Angle operator*(const Angle &_angle) const;
158 
162  public: Angle operator/(const Angle &_angle) const;
163 
167  public: Angle operator-=(const Angle &_angle);
168 
172  public: Angle operator+=(const Angle &_angle);
173 
177  public: Angle operator*=(const Angle &_angle);
178 
182  public: Angle operator/=(const Angle &_angle);
183 
187  public: bool operator==(const Angle &_angle) const;
188 
192  public: bool operator!=(const Angle &_angle) const;
193 
197  public: bool operator<(const Angle &_angle) const;
198 
202  public: bool operator<=(const Angle &_angle) const;
203 
207  public: bool operator>(const Angle &_angle) const;
208 
212  public: bool operator>=(const Angle &_angle) const;
213 
218  public: friend std::ostream &operator<<(std::ostream &_out,
219  const gz::math::Angle &_a)
220  {
221  _out << _a.Radian();
222  return _out;
223  }
224 
229  public: friend std::istream &operator>>(std::istream &_in,
230  gz::math::Angle &_a)
231  {
232  // Skip white spaces
233  _in.setf(std::ios_base::skipws);
234  _in >> _a.value;
235  return _in;
236  }
237 
239  private: double value{0};
240  };
241  } // namespace GZ_MATH_VERSION_NAMESPACE
242 } // namespace gz::math
243 
244 #endif // GZ_MATH_ANGLE_HH_