87 lines
2.6 KiB
C++
87 lines
2.6 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR a PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_COMMON_ANGLES_IMPL_HPP_
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#define PCL_COMMON_ANGLES_IMPL_HPP_
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#include <cmath>
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#include <pcl/pcl_macros.h>
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namespace pcl
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{
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inline float
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normAngle (float alpha)
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{
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return (alpha >= 0 ?
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std::fmod (alpha + static_cast<float>(M_PI),
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2.0f * static_cast<float>(M_PI))
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- static_cast<float>(M_PI)
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:
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-(std::fmod (static_cast<float>(M_PI) - alpha,
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2.0f * static_cast<float>(M_PI))
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- static_cast<float>(M_PI)));
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}
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inline float
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rad2deg (float alpha)
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{
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return (alpha * 57.29578f);
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}
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inline float
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deg2rad (float alpha)
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{
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return (alpha * 0.017453293f);
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}
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inline double
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rad2deg (double alpha)
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{
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return (alpha * 57.29578);
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}
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inline double
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deg2rad (double alpha)
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{
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return (alpha * 0.017453293);
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}
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}
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#endif // PCL_COMMON_ANGLES_IMPL_HPP_
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