angle_conversions.h

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// Copyright (c) 2020-2021 Pilz GmbH & Co. KG
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef PSEN_SCAN_V2_STANDALONE_ANGLE_CONVERSIONS_H
#define PSEN_SCAN_V2_STANDALONE_ANGLE_CONVERSIONS_H
 
#include <sstream>
#include <stdexcept>
 
#include <boost/math/constants/constants.hpp>
 
namespace psen_scan_v2_standalone
{
namespace data_conversion_layer
{
inline static constexpr double radianToDegree(const double& angle_in_rad)
{
  return angle_in_rad * 180. / boost::math::double_constants::pi;
}
 
inline static constexpr double degreeToRadian(const double& angle_in_degree)
{
  return (angle_in_degree / 180.) * boost::math::double_constants::pi;
}
 
inline static int16_t degreeToTenthDegree(const double& angle_in_degree)
{
  const double tenth_degree_rounded{ std::round(10. * angle_in_degree) };
  if (tenth_degree_rounded < std::numeric_limits<int16_t>::min() ||
      tenth_degree_rounded > std::numeric_limits<int16_t>::max())
  {
    std::stringstream exception_msg;
    exception_msg << "Angle " << tenth_degree_rounded << " (tenth of degree) is out of range.";
    throw std::invalid_argument(exception_msg.str());
  }
  return static_cast<int16_t>(tenth_degree_rounded);
}
 
inline static int16_t radToTenthDegree(const double& angle_in_rad)
{
  return degreeToTenthDegree(radianToDegree(angle_in_rad));
}
 
inline static double constexpr tenthDegreeToRad(const int16_t& angle_in_tenth_degree)
{
  return data_conversion_layer::degreeToRadian(static_cast<double>(angle_in_tenth_degree) / 10.);
}
 
}  // namespace data_conversion_layer
}  // namespace psen_scan_v2_standalone
 
#endif  // PSEN_SCAN_V2_STANDALONE_ANGLE_CONVERSIONS_H