Point Cloud Library (PCL)
1.11.1-dev
pcl
common
impl
angles.hpp
1
/*
2
* Software License Agreement (BSD License)
3
*
4
* Point Cloud Library (PCL) - www.pointclouds.org
5
* Copyright (c) 2010, Willow Garage, Inc.
6
* Copyright (c) 2012-, Open Perception, Inc.
7
*
8
* All rights reserved.
9
*
10
* Redistribution and use in source and binary forms, with or without
11
* modification, are permitted provided that the following conditions
12
* are met:
13
*
14
* * Redistributions of source code must retain the above copyright
15
* notice, this list of conditions and the following disclaimer.
16
* * Redistributions in binary form must reproduce the above
17
* copyright notice, this list of conditions and the following
18
* disclaimer in the documentation and/or other materials provided
19
* with the distribution.
20
* * Neither the name of the copyright holder(s) nor the names of its
21
* contributors may be used to endorse or promote products derived
22
* from this software without specific prior written permission.
23
*
24
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27
* FOR a PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35
* POSSIBILITY OF SUCH DAMAGE.
36
*
37
*/
38
39
#ifndef PCL_COMMON_ANGLES_IMPL_HPP_
40
#define PCL_COMMON_ANGLES_IMPL_HPP_
41
42
#include <cmath>
43
#include <
pcl/pcl_macros.h
>
44
45
namespace
pcl
46
{
47
inline
float
48
normAngle
(
float
alpha)
49
{
50
return
(alpha >= 0 ?
51
std::fmod (alpha +
static_cast<
float
>
(
M_PI
),
52
2.0f *
static_cast<
float
>
(
M_PI
))
53
-
static_cast<
float
>
(
M_PI
)
54
:
55
-(std::fmod (
static_cast<
float
>
(
M_PI
) - alpha,
56
2.0f *
static_cast<
float
>
(
M_PI
))
57
-
static_cast<
float
>
(
M_PI
)));
58
}
59
60
inline
float
61
rad2deg
(
float
alpha)
62
{
63
return
(alpha * 57.29578f);
64
}
65
66
inline
float
67
deg2rad
(
float
alpha)
68
{
69
return
(alpha * 0.017453293f);
70
}
71
72
inline
double
73
rad2deg
(
double
alpha)
74
{
75
return
(alpha * 57.29578);
76
}
77
78
inline
double
79
deg2rad
(
double
alpha)
80
{
81
return
(alpha * 0.017453293);
82
}
83
}
84
85
#endif // PCL_COMMON_ANGLES_IMPL_HPP_
86
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition:
convolution.h:46
M_PI
#define M_PI
Definition:
pcl_macros.h:201
pcl::normAngle
float normAngle(float alpha)
Normalize an angle to (-PI, PI].
Definition:
angles.hpp:48
pcl::deg2rad
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition:
angles.hpp:67
pcl::rad2deg
float rad2deg(float alpha)
Convert an angle from radians to degrees.
Definition:
angles.hpp:61