Angle.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_MATH_ANGLE_HH_
#define IGNITION_MATH_ANGLE_HH_

#include <iostream>
#include <ignition/math/Helpers.hh>
#include <ignition/math/config.hh>

#define IGN_RTOD(r) ((r) * 180 / IGN_PI)

#define IGN_DTOR(d) ((d) * IGN_PI / 180)

#define IGN_NORMALIZE(a) (atan2(sin(a), cos(a)))

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    class IGNITION_MATH_VISIBLE Angle
    {
      public: static const Angle Zero;

      public: static const Angle Pi;

      public: static const Angle HalfPi;

      public: static const Angle TwoPi;

      public: Angle();

      // cppcheck-suppress noExplicitConstructor
      public: Angle(const double _radian);

      public: Angle(const Angle &_angle);

      public: virtual ~Angle();

      public: void Radian(double _radian);

      public: void Degree(double _degree);

      public: double Radian() const;

      public: double Degree() const;

      public: void Normalize();

      public: double operator()() const;

      public: inline double operator*() const
              {
                return value;
              }

      public: Angle operator-(const Angle &_angle) const;

      public: Angle operator+(const Angle &_angle) const;

      public: Angle operator*(const Angle &_angle) const;

      public: Angle operator/(const Angle &_angle) const;

      public: Angle operator-=(const Angle &_angle);

      public: Angle operator+=(const Angle &_angle);

      public: Angle operator*=(const Angle &_angle);

      public: Angle operator/=(const Angle &_angle);

      public: bool operator==(const Angle &_angle) const;

      public: bool operator!=(const Angle &_angle) const;

      public: bool operator<(const Angle &_angle) const;

      public: bool operator<=(const Angle &_angle) const;

      public: bool operator>(const Angle &_angle) const;

      public: bool operator>=(const Angle &_angle) const;

      public: friend std::ostream &operator<<(std::ostream &_out,
                                              const ignition::math::Angle &_a)
      {
        _out << _a.Radian();
        return _out;
      }

      public: friend std::istream &operator>>(std::istream &_in,
                                              ignition::math::Angle &_a)
      {
        // Skip white spaces
        _in.setf(std::ios_base::skipws);
        _in >> _a.value;
        return _in;
      }

      private: double value;
    };
    }
  }
}

#endif