libignition-math2-dev 2.9.0+dfsg1-1 / usr / include / ignition / math2 / ignition / math / Angle.hh

/*
 * Copyright (C) 2012-2014 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 IGNITION_MATH_ANGLE_HH_
#define IGNITION_MATH_ANGLE_HH_

#include <iostream>
#include <ignition/math/Helpers.hh>

/// \brief Macro that converts radians to degrees
/// \param[in] radians
/// \return degrees
#define IGN_RTOD(r) ((r) * 180 / IGN_PI)

/// \brief Converts degrees to radians
/// \param[in] degrees
/// \return radians
#define IGN_DTOR(d) ((d) * IGN_PI / 180)

/// \brief Macro that normalizes an angle in the range -Pi to Pi
/// \param[in] angle
/// \return the angle, in range
#define IGN_NORMALIZE(a) (atan2(sin(a), cos(a)))

namespace ignition
{
  namespace math
  {
    /// \class Angle Angle.hh ignition/math/Angle.hh
    /// \brief An angle and related functions.
    class IGNITION_VISIBLE Angle
    {
      /// \brief math::Angle(0)
      public: static const Angle Zero;

      /// \brief math::Angle(IGN_PI)
      public: static const Angle Pi;

      /// \brief math::Angle(IGN_PI * 0.5)
      public: static const Angle HalfPi;

      /// \brief math::Angle(IGN_PI * 2)
      public: static const Angle TwoPi;

      /// \brief Constructor
      public: Angle();

      /// \brief Copy Constructor
      /// \param[in] _radian Radians
      // cppcheck-suppress noExplicitConstructor
      public: Angle(double _radian);

      /// \brief Copy constructor
      /// \param[in] _angle Angle to copy
      public: Angle(const Angle &_angle);

      /// \brief Destructor
      public: virtual ~Angle();

      /// \brief Set the value from an angle in radians
      /// \param[in] _radian Radian value
      public: void Radian(double _radian);

      /// \brief Set the value from an angle in degrees
      /// \param[in] _degree Degree value
      public: void Degree(double _degree);

      /// \brief Get the angle in radians
      /// \return double containing the angle's radian value
      public: double Radian() const;

      /// \brief Get the angle in degrees
      /// \return double containing the angle's degree value
      public: double Degree() const;

      /// \brief Normalize the angle in the range -Pi to Pi
      public: void Normalize();

      /// \brief Return the angle's radian value
      /// \return double containing the angle's radian value
      public: double operator()() const;

      /// \brief Dereference operator
      /// \return Double containing the angle's radian value
      public: inline double operator*() const
              {
                return value;
              }

      /// \brief Substraction, result = this - _angle
      /// \param[in] _angle Angle for substraction
      /// \return the new angle
      public: Angle operator-(const Angle &_angle) const;

      /// \brief Addition operator, result = this + _angle
      /// \param[in] _angle Angle for addition
      /// \return the new angle
      public: Angle operator+(const Angle &_angle) const;

      /// \brief Multiplication operator, result = this * _angle
      /// \param[in] _angle Angle for multiplication
      /// \return the new angle
      public: Angle operator*(const Angle &_angle) const;

      /// \brief Division, result = this / _angle
      /// \param[in] _angle Angle for division
      /// \return the new angle
      public: Angle operator/(const Angle &_angle) const;

      /// \brief Subtraction set, this = this - _angle
      /// \param[in] _angle Angle for subtraction
      /// \return angle
      public: Angle operator-=(const Angle &_angle);

      /// \brief Addition set, this = this + _angle
      /// \param[in] _angle Angle for addition
      /// \return angle
      public: Angle operator+=(const Angle &_angle);

      /// \brief Multiplication set, this = this * _angle
      /// \param[in] _angle Angle for multiplication
      /// \return angle
      public: Angle operator*=(const Angle &_angle);

      /// \brief Division set, this = this / _angle
      /// \param[in] _angle Angle for division
      /// \return angle
      public: Angle operator/=(const Angle &_angle);

      /// \brief Equality operator, result = this == _angle
      /// \param[in] _angle Angle to check for equality
      /// \return true if this == _angle
      public: bool operator==(const Angle &_angle) const;

      /// \brief Inequality
      /// \param[in] _angle Angle to check for inequality
      /// \return true if this != _angle
      public: bool operator!=(const Angle &_angle) const;

      /// \brief Less than operator
      /// \param[in] _angle Angle to check
      /// \return true if this < _angle
      public: bool operator<(const Angle &_angle) const;

      /// \brief Less or equal operator
      /// \param[in] _angle Angle to check
      /// \return true if this <= _angle
      public: bool operator<=(const Angle &_angle) const;

      /// \brief Greater than operator
      /// \param[in] _angle Angle to check
      /// \return true if this > _angle
      public: bool operator>(const Angle &_angle) const;

      /// \brief Greater or equal operator
      /// \param[in] _angle Angle to check
      /// \return true if this >= _angle
      public: bool operator>=(const Angle &_angle) const;

      /// \brief Stream insertion operator. Outputs in degrees
      /// \param[in] _out output stream
      /// \param[in] _a angle to output
      /// \return The output stream
      public: friend std::ostream &operator<<(std::ostream &_out,
                                              const ignition::math::Angle &_a)
      {
        _out << _a.Radian();
        return _out;
      }

      /// \brief Stream extraction operator. Assumes input is in radians
      /// \param in input stream
      /// \param pt angle to read value into
      /// \return The input stream
      public: friend std::istream &operator>>(std::istream &_in,
                                              ignition::math::Angle &_a)
      {
        // Skip white spaces
        _in.setf(std::ios_base::skipws);
        _in >> _a.value;
        return _in;
      }

      /// The angle in radians
      private: double value;
    };
  }
}

#endif