base::Angle Class Reference

#include <Angle.hpp>

Public Member Functions
	Angle ()
double	getRad () const
double	getDeg () const
bool	isApprox (Angle other, double prec=1e-5) const
void	operator= (const Angle &other)
bool	operator== (const Angle &other) const
bool	operator< (const Angle &other) const
bool	operator> (const Angle &other) const
bool	operator<= (const Angle &other) const
bool	operator>= (const Angle &other) const
Angle &	operator+= (const Angle &other)
Angle &	operator-= (const Angle &other)
Angle	operator+ (const Angle &other) const
Angle	operator- (const Angle &other) const
Angle	operator* (const Angle &other) const
Angle	operator* (const double &val) const
Angle	flipped () const
Angle &	flip ()

Static Public Member Functions
static double	rad2Deg (double rad)
static double	deg2Rad (double deg)
static double	normalizeRad (double rad)
static Angle	fromRad (double rad)
static Angle	fromDeg (double deg)
static Angle	unknown ()
static Angle	Min ()
static Angle	Max ()
static Angle	vectorToVector (const base::Vector3d &a, const base::Vector3d &b)
static Angle	vectorToVector (const base::Vector3d &a, const base::Vector3d &b, const base::Vector3d &positive)

Public Attributes
double	rad

Protected Member Functions
	Angle (double _rad)
void	canonize ()

Detailed Description

This class represents an angle, and can be used instead of double for convenience. The class has a canonical representation of the angle in degrees, in the interval PI < rad <= PI.

Constructor & Destructor Documentation

Angle() [1/2]

base::Angle::Angle ( )

inline

default constructor, which will initialize the value to unknown (NaN)

Angle() [2/2]

base::Angle::Angle ( double  _rad )

inlineexplicitprotected

Member Function Documentation

canonize()

void base::Angle::canonize ( )

inlineprotected

deg2Rad()

static double base::Angle::deg2Rad ( double  deg )

inlinestatic

static conversion from degree to radians

Parameters

deg	angle in degree

Returns

angle in radians

flip()

Angle& base::Angle::flip ( )

inline

Inverts the current angle

flipped()

Angle base::Angle::flipped ( ) const

inline

Returns a new angle which is the inverse of tis object.

fromDeg()

static Angle base::Angle::fromDeg ( double  deg )

inlinestatic

use this method to get an angle from degrees.

Returns

representation of the given angle.

Parameters

deg	- angle in degrees.

fromRad()

static Angle base::Angle::fromRad ( double  rad )

inlinestatic

use this method to get an angle from radians.

Returns

representation of the given angle.

Parameters

rad	- angle in radians.

getDeg()

double base::Angle::getDeg ( ) const

inline

Returns

canonical value of the angle in degrees

getRad()

double base::Angle::getRad ( ) const

inline

Returns

canonical value of the angle in radians

isApprox()

bool base::Angle::isApprox ( Angle  other, double  prec = 1e-5  ) const

inline

compare two angles for approximate equality

Parameters

other	- angle to compare
prec	- precision interval in deg

Returns

true if angle is approximately equal

Max()

static Angle base::Angle::Max ( )

inlinestatic

Returns the maximum angle possible after normalization

Returns

representation of the maximum angle

Min()

static Angle base::Angle::Min ( )

inlinestatic

Returns the minimum angle possible after normalization

Returns

representation of the minimum angle

normalizeRad()

static double base::Angle::normalizeRad ( double  rad )

inlinestatic

Normalize an angular value in [-pi; pi] and returns it as double

operator*() [1/2]

Angle base::Angle::operator* ( const Angle &  other ) const

inline

operator*() [2/2]

Angle base::Angle::operator* ( const double &  val ) const

inline

operator+()

Angle base::Angle::operator+ ( const Angle &  other ) const

inline

operator+=()

Angle& base::Angle::operator+= ( const Angle &  other )

inline

operator-()

Angle base::Angle::operator- ( const Angle &  other ) const

inline

operator-=()

Angle& base::Angle::operator-= ( const Angle &  other )

inline

operator<()

bool base::Angle::operator< ( const Angle &  other ) const

inline

operator<=()

bool base::Angle::operator<= ( const Angle &  other ) const

inline

operator=()

void base::Angle::operator= ( const Angle &  other )

inline

operator==()

bool base::Angle::operator== ( const Angle &  other ) const

inline

operator>()

bool base::Angle::operator> ( const Angle &  other ) const

inline

operator>=()

bool base::Angle::operator>= ( const Angle &  other ) const

inline

rad2Deg()

static double base::Angle::rad2Deg ( double  rad )

inlinestatic

static conversion from radians to degree

Parameters

rad	angle in radians

Returns

angle in degree

unknown()

static Angle base::Angle::unknown ( )

inlinestatic

Use this method to represent an unknown angle

vectorToVector() [1/2]

Angle base::Angle::vectorToVector ( const base::Vector3d &  a, const base::Vector3d &  b  )

static

Computes the unsigned angle of the rotation that makes +a+ colinear with +b+

vectorToVector() [2/2]

Angle base::Angle::vectorToVector ( const base::Vector3d &  a, const base::Vector3d &  b, const base::Vector3d &  positive  )

static

Computes the angle of the rotation that makes +a+ colinear with +b+

Unlike vectorToVector(a, b), this method computes a signed angle, with the positive vector defining the positive rotation direction. positive is required to be of unit length.

Member Data Documentation

rad

double base::Angle::rad

angle in radians. this value will always be PI < rad <= PI

Note

don't use this value directly. It's only public to allow this class to be used as an interface type.

---

The documentation for this class was generated from the following files:

• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/Angle.hpp
• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/Angle.cpp