angles.hpp

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#ifndef PCL_COMMON_ANGLES_IMPL_HPP_
#define PCL_COMMON_ANGLES_IMPL_HPP_
 
#include <cmath>
#include <pcl/pcl_macros.h>
 
namespace pcl
{
  inline float
  normAngle (float alpha)
  {
    return (alpha >= 0  ? 
        std::fmod (alpha + static_cast<float>(M_PI), 
               2.0f * static_cast<float>(M_PI)) 
        - static_cast<float>(M_PI) 
        : 
        -(std::fmod (static_cast<float>(M_PI) - alpha, 
                 2.0f * static_cast<float>(M_PI)) 
        - static_cast<float>(M_PI)));
  }
 
  inline float 
  rad2deg (float alpha)
  {
    return (alpha * 57.29578f);
  }
 
  inline float 
  deg2rad (float alpha)
  {
    return (alpha * 0.017453293f);
  }
 
  inline double 
  rad2deg (double alpha)
  {
    return (alpha * 57.29578);
  }
 
  inline double 
  deg2rad (double alpha)
  {
    return (alpha * 0.017453293);
  }
}
 
#endif  // PCL_COMMON_ANGLES_IMPL_HPP_