Point Cloud Library (PCL)  1.14.0-dev
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 
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition: angles.hpp:67
float rad2deg(float alpha)
Convert an angle from radians to degrees.
Definition: angles.hpp:61
float normAngle(float alpha)
Normalize an angle to (-PI, PI].
Definition: angles.hpp:48
Defines all the PCL and non-PCL macros used.
#define M_PI
Definition: pcl_macros.h:201