Angle.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_ANGLE_HH_
#define GZ_MATH_ANGLE_HH_
 
#include <istream>
#include <ostream>
#include <gz/math/Helpers.hh>
#include <gz/math/config.hh>
 
#define GZ_RTOD(r) ((r) * 180 / GZ_PI)
 
#define GZ_DTOR(d) ((d) * GZ_PI / 180)
 
#define GZ_NORMALIZE(a) (atan2(sin(a), cos(a)))
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  class GZ_MATH_VISIBLE Angle
  {
    public: static const Angle &Zero;
 
    public: static const Angle &Pi;
 
    public: static const Angle &HalfPi;
 
    public: static const Angle &TwoPi;
 
    public: Angle() = default;
 
    //
    // cppcheck-suppress noExplicitConstructor
    public: constexpr Angle(double _radian)
    : value(_radian)
    {
    }
 
    public: void SetRadian(double _radian);
 
    public: void SetDegree(double _degree);
 
    public: double Radian() const;
 
    public: double Degree() const;
 
    public: void Normalize();
 
    public: Angle Normalized() const;
 
    public: Angle Abs() const;
 
    public: Angle ShortestDistance(const Angle &_other) const;
 
    public: double operator()() const;
 
    public: inline double operator*() const
            {
              return value;
            }
 
    public: Angle operator-() const;
 
    public: Angle operator-(const Angle &_angle) const;
 
    public: Angle operator+(const Angle &_angle) const;
 
    public: Angle operator*(const Angle &_angle) const;
 
    public: Angle operator/(const Angle &_angle) const;
 
    public: Angle operator-=(const Angle &_angle);
 
    public: Angle operator+=(const Angle &_angle);
 
    public: Angle operator*=(const Angle &_angle);
 
    public: Angle operator/=(const Angle &_angle);
 
    public: bool operator==(const Angle &_angle) const;
 
    public: bool operator!=(const Angle &_angle) const;
 
    public: bool operator<(const Angle &_angle) const;
 
    public: bool operator<=(const Angle &_angle) const;
 
    public: bool operator>(const Angle &_angle) const;
 
    public: bool operator>=(const Angle &_angle) const;
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                                            const gz::math::Angle &_a)
    {
      _out << _a.Radian();
      return _out;
    }
 
    public: friend std::istream &operator>>(std::istream &_in,
                                            gz::math::Angle &_a)
    {
      // Skip white spaces
      _in.setf(std::ios_base::skipws);
      _in >> _a.value;
      return _in;
    }
 
    private: double value{0};
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
 
#endif  // GZ_MATH_ANGLE_HH_