00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR a PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 #include <cmath> 00037 #include <pcl/pcl_macros.h> 00038 00039 namespace pcl 00040 { 00041 inline float 00042 normAngle (float alpha) 00043 { 00044 return (alpha >= 0 ? 00045 fmodf (alpha + static_cast<float>(M_PI), 00046 2.0f * static_cast<float>(M_PI)) 00047 - static_cast<float>(M_PI) 00048 : 00049 -(fmodf (static_cast<float>(M_PI) - alpha, 00050 2.0f * static_cast<float>(M_PI)) 00051 - static_cast<float>(M_PI))); 00052 } 00053 00054 inline float 00055 rad2deg (float alpha) 00056 { 00057 return (alpha * 57.29578f); 00058 } 00059 00060 inline float 00061 deg2rad (float alpha) 00062 { 00063 return (alpha * 0.017453293f); 00064 } 00065 00066 inline double 00067 rad2deg (double alpha) 00068 { 00069 return (alpha * 57.29578); 00070 } 00071 00072 inline double 00073 deg2rad (double alpha) 00074 { 00075 return (alpha * 0.017453293); 00076 } 00077 }