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<div class="title">angles.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * FOR a PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#ifndef PCL_COMMON_ANGLES_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#define PCL_COMMON_ANGLES_IMPL_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <cmath></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <<a class="code" href="pcl__macros_8h.html">pcl/pcl_macros.h</a>></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="group__common.html#ga3b37d5c19b2773954bbc5320f011f3ec"> 48</a></span>  <a class="code" href="group__common.html#ga3b37d5c19b2773954bbc5320f011f3ec">normAngle</a> (<span class="keywordtype">float</span> alpha)</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">return</span> (alpha >= 0 ? </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  std::fmod (alpha + <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>), </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  2.0f * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>)) </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  - <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  : </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  -(std::fmod (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) - alpha, </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  2.0f * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>)) </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  - <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>)));</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77"> 61</a></span>  <a class="code" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">rad2deg</a> (<span class="keywordtype">float</span> alpha)</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> (alpha * 57.29578f);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6"> 67</a></span>  <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (<span class="keywordtype">float</span> alpha)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> (alpha * 0.017453293f);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="group__common.html#ga997c583b8ac57ffa9ad9e7321b4673e5"> 73</a></span>  <a class="code" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">rad2deg</a> (<span class="keywordtype">double</span> alpha)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  {</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">return</span> (alpha * 57.29578);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="group__common.html#ga78fe9974ed54012d6cf057afda5d3350"> 79</a></span>  <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">deg2rad</a> (<span class="keywordtype">double</span> alpha)</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  {</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">return</span> (alpha * 0.017453293);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="preprocessor">#endif </span><span class="comment">// PCL_COMMON_ANGLES_IMPL_HPP_</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians.</div><div class="ttdef"><b>Definition:</b> <a href="angles_8hpp_source.html#l00067">angles.hpp:67</a></div></div>
<div class="ttc" id="agroup__common_html_ga3177c2c084674693cc38f03e80b6ad77"><div class="ttname"><a href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a></div><div class="ttdeci">float rad2deg(float alpha)</div><div class="ttdoc">Convert an angle from radians to degrees.</div><div class="ttdef"><b>Definition:</b> <a href="angles_8hpp_source.html#l00061">angles.hpp:61</a></div></div>
<div class="ttc" id="agroup__common_html_ga3b37d5c19b2773954bbc5320f011f3ec"><div class="ttname"><a href="group__common.html#ga3b37d5c19b2773954bbc5320f011f3ec">pcl::normAngle</a></div><div class="ttdeci">float normAngle(float alpha)</div><div class="ttdoc">Normalize an angle to (-PI, PI].</div><div class="ttdef"><b>Definition:</b> <a href="angles_8hpp_source.html#l00048">angles.hpp:48</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="apcl__macros_8h_html"><div class="ttname"><a href="pcl__macros_8h.html">pcl_macros.h</a></div><div class="ttdoc">Defines all the PCL and non-PCL macros used.</div></div>
<div class="ttc" id="apcl__macros_8h_html_ae71449b1cc6e6250b91f539153a7a0d3"><div class="ttname"><a href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a></div><div class="ttdeci">#define M_PI</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00203">pcl_macros.h:203</a></div></div>
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