The Angle class is used to simplify and clarify the use of radians and degrees measurements. A default constructed Angle instance has a value of zero radians/degrees. More...

#include <gz/math/Angle.hh>

Public Member Functions
	Angle ()=default
	Default constructor that initializes an Angle to zero radians/degrees.

constexpr	Angle (double _radian)
	Conversion constructor that initializes an Angle to the specified radians. This constructor supports implicit conversion of a double to an Angle. For example:

Angle	Abs () const
	Return the absolute value of this Angle.

double	Degree () const
	Get the angle in degrees.

void	Normalize ()
	Normalize the angle in the range -Pi to Pi. This modifies the value contained in this Angle instance.

Angle	Normalized () const
	Return the normalized angle in the range -Pi to Pi. This does not modify the value contained in this Angle instance.

bool	operator!= (const Angle &_angle) const
	Inequality operator.

double	operator() () const
	Return the angle's radian value.

double	operator* () const
	Dereference operator.

Angle	operator* (const Angle &_angle) const
	Multiplication operator, result = this * _angle.

Angle	operator*= (const Angle &_angle)
	Multiplication set operator, this = this * _angle.

Angle	operator+ (const Angle &_angle) const
	Addition operator, result = this + _angle.

Angle	operator+= (const Angle &_angle)
	Addition set operator, this = this + _angle.

Angle	operator- () const
	Negation operator, result = -this.

Angle	operator- (const Angle &_angle) const
	Subtraction operator, result = this - _angle.

Angle	operator-= (const Angle &_angle)
	Subtraction set operator, this = this - _angle.

Angle	operator/ (const Angle &_angle) const
	Division operator, result = this / _angle.

Angle	operator/= (const Angle &_angle)
	Division set operator, this = this / _angle.

bool	operator< (const Angle &_angle) const
	Less than operator.

bool	operator<= (const Angle &_angle) const
	Less than or equal operator.

bool	operator== (const Angle &_angle) const
	Equality operator, result = this == _angle.

bool	operator> (const Angle &_angle) const
	Greater than operator.

bool	operator>= (const Angle &_angle) const
	Greater than or equal operator.

double	Radian () const
	Get the angle in radians.

void	SetDegree (double _degree)
	Set the value from an angle in degrees.

void	SetRadian (double _radian)
	Set the value from an angle in radians.

Angle	ShortestDistance (const Angle &_other) const
	Return the shortest angular distance between this and the other angle.

Static Public Attributes
static const Angle &	HalfPi
	An angle with a value of Pi * 0.5. Equivalent to math::Angle(GZ_PI * 0.5).

static const Angle &	Pi
	An angle with a value of Pi. Equivalent to math::Angle(GZ_PI).

static const Angle &	TwoPi
	An angle with a value of Pi * 2. Equivalent to math::Angle(GZ_PI * 2).

static const Angle &	Zero
	An angle with a value of zero. Equivalent to math::Angle(0).

Detailed Description

The Angle class is used to simplify and clarify the use of radians and degrees measurements. A default constructed Angle instance has a value of zero radians/degrees.

Unless otherwise specified, the Angle class assumes units are in radians. An example of this are the stream insertion (<<) and extraction (>>) operators.

Example

#include <iostream>
#include <gz/math/Angle.hh>
 
int main(int argc, char **argv)
{
 
  gz::math::Angle a;
 
  // A default constructed angle should be zero.
  std::cout << "The angle 'a' should be zero: " << a << std::endl;
  a = gz::math::Angle::HalfPi;
  a = gz::math::Angle::Pi;
 
  std::cout << "Pi in radians: " << a << std::endl;
  std::cout << "Pi in degrees: " << a.Degree() << std::endl;
 
  a += gz::math::Angle::HalfPi;
  std::cout << "Pi + PI/2 in radians: " << a << std::endl;
  std::cout << "Normalized to the range -Pi and Pi: "
    << a.Normalized() << std::endl;
 
}

Constructor & Destructor Documentation

◆ Angle() [1/2]

Angle ( )

default

Default constructor that initializes an Angle to zero radians/degrees.

◆ Angle() [2/2]

constexpr Angle ( double _radian )

inlineconstexpr

Conversion constructor that initializes an Angle to the specified radians. This constructor supports implicit conversion of a double to an Angle. For example:

Angle a = 3.14;

Parameters

[in] _radian The radians used to initialize this Angle.

Member Function Documentation

◆ Abs()

Angle Abs ( ) const

Return the absolute value of this Angle.

Returns: The absolute value of this Angle.

◆ Degree()

double Degree ( ) const

Get the angle in degrees.

Returns: Double containing the angle's degree value.

◆ Normalize()

void Normalize ( )

Normalize the angle in the range -Pi to Pi. This modifies the value contained in this Angle instance.

See also: Normalized()

◆ Normalized()

Angle Normalized ( ) const

Return the normalized angle in the range -Pi to Pi. This does not modify the value contained in this Angle instance.

Returns: The normalized value of this Angle.

◆ operator!=()

bool operator!= ( const Angle & _angle ) const

Inequality operator.

Parameters

[in] _angle Angle to check for inequality.

Returns: True if this != _angle.

◆ operator()()

double operator() ( ) const

Return the angle's radian value.

Returns: double containing the angle's radian value

◆ operator*() [1/2]

double operator* ( ) const

inline

Dereference operator.

Returns: Double containing the angle's radian value

◆ operator*() [2/2]

Angle operator* ( const Angle & _angle ) const

Multiplication operator, result = this * _angle.

Parameters

[in] _angle Angle for multiplication.

Returns: The new angle

◆ operator*=()

Angle operator*= ( const Angle & _angle )

Multiplication set operator, this = this * _angle.

Parameters

[in] _angle Angle for multiplication.

Returns: The new angle.

◆ operator+()

Angle operator+ ( const Angle & _angle ) const

Addition operator, result = this + _angle.

Parameters

[in] _angle Angle for addition.

Returns: The new angle.

◆ operator+=()

Angle operator+= ( const Angle & _angle )

Addition set operator, this = this + _angle.

Parameters

[in] _angle Angle for addition.

Returns: The new angle.

◆ operator-() [1/2]

Angle operator- ( ) const

Negation operator, result = -this.

Returns: The new angle.

◆ operator-() [2/2]

Angle operator- ( const Angle & _angle ) const

Subtraction operator, result = this - _angle.

Parameters

[in] _angle Angle for subtraction.

Returns: The new angle.

◆ operator-=()

Angle operator-= ( const Angle & _angle )

Subtraction set operator, this = this - _angle.

Parameters

[in] _angle Angle for subtraction.

Returns: The new angle.

◆ operator/()

Angle operator/ ( const Angle & _angle ) const

Division operator, result = this / _angle.

Parameters

[in] _angle Angle for division.

Returns: The new angle.

◆ operator/=()

Angle operator/= ( const Angle & _angle )

Division set operator, this = this / _angle.

Parameters

[in] _angle Angle for division.

Returns: The new angle.

◆ operator<()

bool operator< ( const Angle & _angle ) const

Less than operator.

Parameters

[in] _angle Angle to check.

Returns: True if this < _angle.

◆ operator<=()

bool operator<= ( const Angle & _angle ) const

Less than or equal operator.

Parameters

[in] _angle Angle to check.

Returns: True if this <= _angle.

◆ operator==()

bool operator== ( const Angle & _angle ) const

Equality operator, result = this == _angle.

Parameters

[in] _angle Angle to check for equality.

Returns: True if this == _angle.

◆ operator>()

bool operator> ( const Angle & _angle ) const

Greater than operator.

Parameters

[in] _angle Angle to check.

Returns: True if this > _angle.

◆ operator>=()

bool operator>= ( const Angle & _angle ) const

Greater than or equal operator.

Parameters

[in] _angle Angle to check.

Returns: True if this >= _angle.

◆ Radian()

double Radian ( ) const

Get the angle in radians.

Returns: Double containing the angle's radian value.

◆ SetDegree()

void SetDegree ( double _degree )

Set the value from an angle in degrees.

Parameters

[in] _degree Degree value

◆ SetRadian()

void SetRadian ( double _radian )

Set the value from an angle in radians.

Parameters

[in] _radian Radian value.

◆ ShortestDistance()

Angle ShortestDistance ( const Angle & _other ) const

Return the shortest angular distance between this and the other angle.

Returns: The shortest distance.

Member Data Documentation

◆ HalfPi

const Angle& HalfPi

static

An angle with a value of Pi * 0.5. Equivalent to math::Angle(GZ_PI * 0.5).

◆ Pi

const Angle& Pi

static

An angle with a value of Pi. Equivalent to math::Angle(GZ_PI).

◆ TwoPi

const Angle& TwoPi

static

An angle with a value of Pi * 2. Equivalent to math::Angle(GZ_PI * 2).

◆ Zero

const Angle& Zero

static

An angle with a value of zero. Equivalent to math::Angle(0).

The documentation for this class was generated from the following file:

Angle.hh

Gazebo Math

API Reference

Public Member Functions

Static Public Attributes

Detailed Description

Example

Constructor & Destructor Documentation

◆ Angle() [1/2]

◆ Angle() [2/2]

Member Function Documentation

◆ Abs()

◆ Degree()

◆ Normalize()

◆ Normalized()

◆ operator!=()

◆ operator()()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator<()

◆ operator<=()

◆ operator==()

◆ operator>()

◆ operator>=()

◆ Radian()

◆ SetDegree()

◆ SetRadian()

◆ ShortestDistance()

Member Data Documentation

◆ HalfPi

◆ Pi

◆ TwoPi

◆ Zero