Angle.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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.
 *
*/
/* Desc: Angle class
 * Author: Nate Koenig
 * Date: 18 Aug 2008
 */

#ifndef ANGLE_HH
#define ANGLE_HH

#include <iostream>
#include <math.h>

// Convert radians to degrees
#define GZ_RTOD(r) ((r) * 180 / M_PI)

// Convert degrees to radians
#define GZ_DTOR(d) ((d) * M_PI / 180)

// Normalize an angle in the range -Pi to Pi
#define GZ_NORMALIZE(a) (atan2(sin(a), cos(a)))

namespace gazebo
{

  namespace math
  {

  
  class Angle
  {
    public: Angle();

    public: Angle(double _radian);

    public: Angle(const Angle &angle);
  
    public: virtual ~Angle();
  
    public: void SetFromRadian( double _radian );
  
    public: void SetFromDegree( double degree );
  
    public: double GetAsRadian() const;
  
    public: double GetAsDegree() const;

    public: void Normalize();

    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 gazebo::math::Angle &a )
    {
      out << a.GetAsRadian();
      return out;
    }
  
    public: friend std::istream &operator>>( std::istream &in, gazebo::math::Angle &a )
    {
      // Skip white spaces
      in.setf( std::ios_base::skipws );
      in >> a.value;
      return in;
    }
  
    private: double value;
  };
    
  }
}

#endif