+#include <stdio.h>
/* ========================================================================
** Extended Template and Library
** Angle Abstraction Class Implementation
-** $Id: _angle.h,v 1.1.1.1 2005/01/04 01:31:46 darco Exp $
+** $Id$
**
** Copyright (c) 2002 Robert B. Quattlebaum Jr.
**
protected:
typedef value_type unit;
- unit v; //! Stored in rotations
-
+ unit v; //! Stored in radians; positive values indicate counter-clockwise.
+
public:
-
+
/*
** Arithmetic Operators
*/
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
ret.v=-v;
return ret;
}
-
+
//! 180 degree rotation operator
/*! Returns the angle directly opposite of
the given angle, and will yield a result
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;
}
ret.v-=rot_floor(ret.v);
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:
/*
- ** Converstion Classes
+ ** Conversion Classes
*/
class rad;
class rot;
/*
- ** Trigometric Classes
+ ** Trigonometric Classes
*/
class sin;
class cos;
- class tan;
+ class tan;
/*
** Friend classes
//affine_combo() { std::cerr<<"affine_combo<etl::angle,float>: I was created!"<<std::endl; }
//~affine_combo() { std::cerr<<"affine_combo<etl::angle,float>: I was DELETED!"<<std::endl; }
-
+
etl::angle operator()(const etl::angle &a,const etl::angle &b,const time_type &t)const
{
return b.dist(a)*(float)t+a;
// return delta+etl::angle::one();
return delta;
}
-
+
etl::angle cook(const etl::angle &x)const { return x; }
etl::angle uncook(const etl::angle &x)const { return x; }
};
-
/* === E N D =============================================================== */
#endif