Point Cloud Library (PCL)  1.9.1-dev
angles.hpp
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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
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
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.