+#include <stdio.h>
/* ========================================================================
** Extended Template and Library
** Angle Abstraction Class Implementation
protected:
typedef value_type unit;
- unit v; //! Stored in rotations
+ unit v; //! Stored in radians; positive values indicate counter-clockwise.
public:
const angle &
operator+=(const angle &rhs)
- { v+=rhs.v; return *this; }
+ { v+=rhs.v; return *this; }
const angle &
operator-=(const angle &rhs)
- { v-=rhs.v; return *this; }
+ { v-=rhs.v; return *this; }
const angle &
operator*=(const unit &rhs)
- { v*=rhs; return *this; }
+ { v*=rhs; return *this; }
const angle &
operator/=(const unit &rhs)
- { v/=rhs; return *this; }
+ { v/=rhs; return *this; }
//! Angle Addition Operator
angle
operator+(const angle &rhs)const
- { return angle(*this)+=rhs; }
+ { return angle(*this)+=rhs; }
//! Angle Subtraction Operator
/*! \sa angle dist(const angle &) */
angle
operator-(const angle &rhs)const
- { return angle(*this)-=rhs; }
+ { return angle(*this)-=rhs; }
//! Angle Scalar Multiplication Operator
/*! This operator will multiply the given
angle by the given scalar value. */
angle
operator*(const unit &rhs)const
- { return angle(*this)*=rhs; }
+ { return angle(*this)*=rhs; }
angle
operator/(const unit &rhs)const
- { return angle(*this)/=rhs; }
+ { return angle(*this)/=rhs; }
//! Angle Negation
angle
operator~()const
{
angle ret;
- ret.v=(value_type)std::floor(v+0.5f);
- return ret;
+ ret.v = v+PI;
+ return ret.mod();
}
/*! Returns true if the shortest
- angle between the left-hand and
- right-hand side is clockwise */
+ angle from the left-hand to the
+ right-hand side is counter-clockwise */
bool
operator<(const angle &rhs)const
- { return v<rhs.v; }
-// { return dist(rhs).v<(value_type)0.0; }
+ { return dist(rhs).v<(value_type)0.0; }
/*! Returns true if the shortest
- angle between the left-hand and
- right-hand side is counter-clockwise */
+ angle from the left-hand to the
+ right-hand side is clockwise */
bool
operator>(const angle &rhs)const
- { return v>rhs.v; }
-// { return dist(rhs).v>(value_type)0.0; }
+ { return dist(rhs).v>(value_type)0.0; }
/*! Returns true if the shortest
- angle between the left-hand and
- right-hand side is clockwise,
+ angle from the left-hand to the
+ right-hand side is counter-clockwise,
or if the angles are refer to the same
point on the unit circle. */
bool
operator<=(const angle &rhs)const
- { return v<=rhs.v; }
-// { return dist(rhs).v<=(value_type)0.0; }
+ { return dist(rhs).v<=(value_type)0.0; }
/*! Returns true if the shortest
- angle between the left-hand and
- right-hand side is counter-clockwise,
+ angle from the left-hand to the
+ right-hand side is clockwise,
or if the angles are refer to the same
point on the unit circle. */
bool
operator>=(const angle &rhs)const
- { return v>=rhs.v; }
-// { return dist(rhs).v>=(value_type)0.0; }
+ { return dist(rhs).v>=(value_type)0.0; }
/*! Returns true if the angles
are refer to the same point
on the unit circle. */
bool
operator==(const angle &rhs)const
- { return v==rhs.v; }
-// { return dist(rhs).v==(value_type)0.0; }
+ { return std::abs(dist(rhs).v)<epsilon; }
/*! Returns false if the angles
are refer to the same point
on the unit circle. */
bool
operator!=(const angle &rhs)const
- { return v!=rhs.v; }
-// { return dist(rhs).v!=(value_type)0.0; }
+ { return std::abs(dist(rhs).v)>epsilon; }
//! Angle Difference Function
/*! This function will return the
dist(const angle &rhs)const
{
angle ret;
-
ret.v=v-rhs.v;
-
ret.v-=rot_floor(ret.v+PI);
-
return ret;
}
return ret;
}
+ //! Zero Rotation (0 degrees)
static angle
zero()
{
return ret;
}
+ //! One Complete Rotation (360 degrees)
static angle
one()
{
angle ret;
- ret.v=PI;
+ ret.v=PI*2;
return ret;
}
+ //! One Half Rotation (180 degrees)
static angle
half()
{
angle ret;
- ret.v=PI*0.5;
+ ret.v=PI;
return ret;
}
- bool operator!()const { return v==0; }
+ bool operator!()const { return std::abs(mod().v) < epsilon; }
private:
static value_type rot_floor(value_type x)
{ return static_cast<value_type>(std::floor(x/(PI*2))*PI*2); }
+ static const value_type epsilon = 1.0e-6;
+
public:
/*
** Conversion Classes
cos(const angle &a):angle(a) { }
cos mod()const { return angle::mod(); }
cos dist(const angle &rhs)const { return angle::dist(rhs); }
- operator value_type()const ETL_DEPRECATED_FUNCTION;
#ifndef ETL_NO_DEPRECATED
- value_type get()const { return (value_type)std::cos(v); }
+ operator value_type()const ETL_DEPRECATED_FUNCTION;
#endif
+ value_type get()const { return (value_type)std::cos(v); }
}; // END of class angle::cos
inline angle::cos::operator angle::value_type()const { return get(); }
etl::angle uncook(const etl::angle &x)const { return x; }
};
-
/* === E N D =============================================================== */
#endif