2 /* ========================================================================
3 ** Extended Template and Library
4 ** Angle Abstraction Class Implementation
7 ** Copyright (c) 2002 Robert B. Quattlebaum Jr.
9 ** This package is free software; you can redistribute it and/or
10 ** modify it under the terms of the GNU General Public License as
11 ** published by the Free Software Foundation; either version 2 of
12 ** the License, or (at your option) any later version.
14 ** This package is distributed in the hope that it will be useful,
15 ** but WITHOUT ANY WARRANTY; without even the implied warranty of
16 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 ** General Public License for more details.
19 ** === N O T E S ===========================================================
21 ** This is an internal header file, included by other ETL headers.
22 ** You should not attempt to use it directly.
24 ** ========================================================================= */
26 /* === S T A R T =========================================================== */
31 /* === H E A D E R S ======================================================= */
36 /* === M A C R O S ========================================================= */
39 # define PI (3.1415926535897932384626433832795029L)
40 # define HALF_PI (PI/2)
43 /* === T Y P E D E F S ===================================================== */
45 /* === C L A S S E S & S T R U C T S ======================================= */
49 // ========================================================================
50 /*! \class angle _angle.h ETL/angle
51 ** \brief Abstraction of the concept of an angle
52 ** \see angle::deg, angle::rad, angle::rot, angle::sin, angle::cos, angle::tan, fastangle
58 typedef float value_type;
61 typedef value_type unit;
63 unit v; //! Stored in radians; positive values indicate counter-clockwise.
68 ** Arithmetic Operators
72 operator+=(const angle &rhs)
73 { v+=rhs.v; return *this; }
76 operator-=(const angle &rhs)
77 { v-=rhs.v; return *this; }
80 operator*=(const unit &rhs)
81 { v*=rhs; return *this; }
84 operator/=(const unit &rhs)
85 { v/=rhs; return *this; }
87 //! Angle Addition Operator
89 operator+(const angle &rhs)const
90 { return angle(*this)+=rhs; }
92 //! Angle Subtraction Operator
93 /*! \sa angle dist(const angle &) */
95 operator-(const angle &rhs)const
96 { return angle(*this)-=rhs; }
98 //! Angle Scalar Multiplication Operator
99 /*! This operator will multiply the given
100 angle by the given scalar value. */
102 operator*(const unit &rhs)const
103 { return angle(*this)*=rhs; }
106 operator/(const unit &rhs)const
107 { return angle(*this)/=rhs; }
118 //! 180 degree rotation operator
119 /*! Returns the angle directly opposite of
120 the given angle, and will yield a result
130 /*! Returns true if the shortest
131 angle from the left-hand to the
132 right-hand side is counter-clockwise */
134 operator<(const angle &rhs)const
135 { return dist(rhs).v<(value_type)0.0; }
137 /*! Returns true if the shortest
138 angle from the left-hand to the
139 right-hand side is clockwise */
141 operator>(const angle &rhs)const
142 { return dist(rhs).v>(value_type)0.0; }
144 /*! Returns true if the shortest
145 angle from the left-hand to the
146 right-hand side is counter-clockwise,
147 or if the angles are refer to the same
148 point on the unit circle. */
150 operator<=(const angle &rhs)const
151 { return dist(rhs).v<=(value_type)0.0; }
153 /*! Returns true if the shortest
154 angle from the left-hand to the
155 right-hand side is clockwise,
156 or if the angles are refer to the same
157 point on the unit circle. */
159 operator>=(const angle &rhs)const
160 { return dist(rhs).v>=(value_type)0.0; }
162 /*! Returns true if the angles
163 are refer to the same point
164 on the unit circle. */
166 operator==(const angle &rhs)const
167 { return std::abs(dist(rhs).v)<epsilon; }
169 /*! Returns false if the angles
170 are refer to the same point
171 on the unit circle. */
173 operator!=(const angle &rhs)const
174 { return std::abs(dist(rhs).v)>epsilon; }
176 //! Angle Difference Function
177 /*! This function will return the
178 shortest physical distance between
179 two angles, from -PI/2 to PI/2
180 \sa angle operator-(const angle &) */
182 dist(const angle &rhs)const
186 ret.v-=rot_floor(ret.v+PI);
191 /*! This function will return the
192 value of the angle between 0 and 2PI */
197 ret.v-=rot_floor(ret.v);
225 bool operator!()const { return v==0; }
229 static value_type rot_floor(value_type x)
230 { return static_cast<value_type>(std::floor(x/(PI*2))*PI*2); }
232 static const value_type epsilon = 1.0e-6;
236 ** Conversion Classes
244 ** Trigonometric Classes
266 #ifndef ETL_NO_DEPRECATED
269 typedef rot rotations;
271 }; // END of class angle
273 // ========================================================================
274 /*! \class angle::rad _angle.h ETL/angle
275 ** \brief Angle representation in radians
279 class angle::rad : public angle
282 explicit rad(const value_type &x) { v=x; }
283 rad(const angle &a):angle(a) { }
284 rad mod()const { return angle::mod(); }
285 rad dist(const angle &rhs)const { return angle::dist(rhs); }
286 #ifndef ETL_NO_DEPRECATED
287 operator value_type()const ETL_DEPRECATED_FUNCTION;
289 value_type get()const { return v; }
290 }; // END of class angle::radians
291 inline angle::rad::operator angle::value_type()const { return get(); }
293 // ========================================================================
294 /*! \class angle::deg _angle.h ETL/angle
295 ** \brief Angle representation in degrees
299 class angle::deg : public angle
302 explicit deg(const value_type &x) { v=x*((PI*2)/360); }
303 deg(const angle &a):angle(a) { }
304 deg mod()const { return angle::mod(); }
305 deg dist(const angle &rhs)const { return angle::dist(rhs); }
306 value_type get()const { return v*360/(PI*2); }
307 #ifndef ETL_NO_DEPRECATED
308 operator value_type()const ETL_DEPRECATED_FUNCTION;
310 }; // END of class angle::degrees
311 inline angle::deg::operator angle::value_type()const { return get(); }
313 // ========================================================================
314 /*! \class angle::rot _angle.h ETL/angle
315 ** \brief Angle representation in rotations
319 class angle::rot : public angle
322 explicit rot(const value_type &x) { v=x*(PI*2); }
323 rot(const angle &a):angle(a) { }
324 rot mod()const { return angle::mod(); }
325 rot dist(const angle &rhs)const { return angle::dist(rhs); }
326 value_type get()const { return v/(PI*2); }
327 #ifndef ETL_NO_DEPRECATED
328 operator value_type()const ETL_DEPRECATED_FUNCTION;
330 }; // END of class angle::rotations
331 inline angle::rot::operator angle::value_type()const { return get(); }
333 // ========================================================================
334 /*! \class angle::sin _angle.h ETL/angle
335 ** \brief Angle representation as a sine function
339 class angle::sin : public angle
342 explicit sin(const value_type &x) { v=static_cast<value_type>(std::asin(x)); }
343 sin(const angle &a):angle(a) { }
344 sin mod()const { return angle::mod(); }
345 sin dist(const angle &rhs)const { return angle::dist(rhs); }
346 value_type get()const { return static_cast<value_type>(std::sin(v)); }
347 #ifndef ETL_NO_DEPRECATED
348 operator value_type()const ETL_DEPRECATED_FUNCTION;
350 }; // END of class angle::sin
351 inline angle::sin::operator angle::value_type()const { return get(); }
353 // ========================================================================
354 /*! \class angle::cos _angle.h ETL/angle
355 ** \brief Angle representation as a cosine function
359 class angle::cos : public angle
362 explicit cos(const value_type &x) { v=(value_type)(std::acos(x)); }
363 cos(const angle &a):angle(a) { }
364 cos mod()const { return angle::mod(); }
365 cos dist(const angle &rhs)const { return angle::dist(rhs); }
366 operator value_type()const ETL_DEPRECATED_FUNCTION;
367 #ifndef ETL_NO_DEPRECATED
368 value_type get()const { return (value_type)std::cos(v); }
370 }; // END of class angle::cos
371 inline angle::cos::operator angle::value_type()const { return get(); }
373 // ========================================================================
374 /*! \class angle::tan _angle.h ETL/angle
375 ** \brief Angle representation as a tangent function
379 class angle::tan : public angle
382 explicit tan(const value_type &x) { v=(value_type)(std::atan(x)); }
383 tan(const value_type &y,const value_type &x) { v=(value_type)(std::atan2(y,x)); }
384 tan(const angle &a):angle(a) { }
385 tan mod()const { return angle::mod(); }
386 tan dist(const angle &rhs)const { return angle::dist(rhs); }
387 #ifndef ETL_NO_DEPRECATED
388 operator value_type()const ETL_DEPRECATED_FUNCTION;
390 value_type get()const { return (value_type)std::tan(v); }
391 }; // END of class angle::tan
392 inline angle::tan::operator angle::value_type()const { return get(); }
396 //#include <iostream>
398 template <typename T>
399 struct affine_combo<etl::angle, T>
403 //affine_combo() { std::cerr<<"affine_combo<etl::angle,float>: I was created!"<<std::endl; }
404 //~affine_combo() { std::cerr<<"affine_combo<etl::angle,float>: I was DELETED!"<<std::endl; }
406 etl::angle operator()(const etl::angle &a,const etl::angle &b,const time_type &t)const
408 return b.dist(a)*(float)t+a;
411 etl::angle reverse(const etl::angle &x, const etl::angle &b, const time_type &t)const
413 return x.dist(b*(float)t)*(float)(time_type(1)/(time_type(1)-t));
418 struct distance_func<etl::angle> : public std::binary_function<etl::angle, etl::angle, etl::angle>
420 etl::angle operator()(const etl::angle &a,const etl::angle &b)const
422 etl::angle delta=b.dist(a);
423 //if(delta<etl::angle::zero())
424 // return delta+etl::angle::one();
428 etl::angle cook(const etl::angle &x)const { return x; }
429 etl::angle uncook(const etl::angle &x)const { return x; }
432 /* === E N D =============================================================== */