+++ /dev/null
-#include <stdio.h>
-/* ========================================================================
-** Extended Template and Library
-** Angle Abstraction Class Implementation
-** $Id$
-**
-** Copyright (c) 2002 Robert B. Quattlebaum Jr.
-** Copyright (c) 2007 Chris Moore
-**
-** This package is free software; you can redistribute it and/or
-** modify it under the terms of the GNU General Public License as
-** published by the Free Software Foundation; either version 2 of
-** the License, or (at your option) any later version.
-**
-** This package 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
-** General Public License for more details.
-**
-** === N O T E S ===========================================================
-**
-** This is an internal header file, included by other ETL headers.
-** You should not attempt to use it directly.
-**
-** ========================================================================= */
-
-/* === S T A R T =========================================================== */
-
-#ifndef __ETL_ANGLE_H
-#define __ETL_ANGLE_H
-
-/* === H E A D E R S ======================================================= */
-
-#include <cmath>
-#include <functional>
-
-/* === M A C R O S ========================================================= */
-
-#ifndef PI
-# define PI (3.1415926535897932384626433832795029L)
-# define HALF_PI (PI/2)
-#endif
-
-#define ANGLE_EPSILON (1.0e-6)
-
-/* === T Y P E D E F S ===================================================== */
-
-/* === C L A S S E S & S T R U C T S ======================================= */
-
-_ETL_BEGIN_NAMESPACE
-
-// ========================================================================
-/*! \class angle _angle.h ETL/angle
-** \brief Abstraction of the concept of an angle
-** \see angle::deg, angle::rad, angle::rot, angle::sin, angle::cos, angle::tan, fastangle
-** \writeme
-*/
-class angle
-{
-public:
- typedef float value_type;
-
-protected:
- typedef value_type unit;
-
- unit v; //! Stored in radians; positive values indicate counter-clockwise.
-
-public:
-
- /*
- ** Arithmetic Operators
- */
-
- const angle &
- operator+=(const angle &rhs)
- { v+=rhs.v; return *this; }
-
- const angle &
- operator-=(const angle &rhs)
- { v-=rhs.v; return *this; }
-
- const angle &
- operator*=(const unit &rhs)
- { v*=rhs; return *this; }
-
- const angle &
- operator/=(const unit &rhs)
- { v/=rhs; return *this; }
-
- //! Angle Addition Operator
- angle
- operator+(const angle &rhs)const
- { return angle(*this)+=rhs; }
-
- //! Angle Subtraction Operator
- /*! \sa angle dist(const angle &) */
- angle
- operator-(const angle &rhs)const
- { 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; }
-
- angle
- operator/(const unit &rhs)const
- { return angle(*this)/=rhs; }
-
- //! Angle Negation
- angle
- operator-()const
- {
- angle ret;
- ret.v=-v;
- return ret;
- }
-
- //! 180 degree rotation operator
- /*! Returns the angle directly opposite of
- the given angle, and will yield a result
- between 0 and 2PI */
- angle
- operator~()const
- {
- angle ret;
- ret.v = v+PI;
- return ret.mod();
- }
-
- /*! Returns true if the shortest
- angle from the left-hand to the
- right-hand side is counter-clockwise */
- bool
- operator<(const angle &rhs)const
- { return dist(rhs).v<(value_type)0.0; }
-
- /*! Returns true if the shortest
- angle from the left-hand to the
- right-hand side is clockwise */
- bool
- operator>(const angle &rhs)const
- { return dist(rhs).v>(value_type)0.0; }
-
- /*! Returns true if the shortest
- 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 dist(rhs).v<=(value_type)0.0; }
-
- /*! Returns true if the shortest
- 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 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 std::abs(dist(rhs).v)<ANGLE_EPSILON; }
-
- /*! Returns false if the angles
- are refer to the same point
- on the unit circle. */
- bool
- operator!=(const angle &rhs)const
- { return std::abs(dist(rhs).v)>ANGLE_EPSILON; }
-
- //! Absolute Angle Function
- /*! This function will return the
- absolute value of the angle. */
- angle
- abs()const
- {
- angle ret;
- ret.v=std::abs(v);
- return ret;
- }
-
- //! Angle Difference Function
- /*! This function will return the
- shortest physical distance between
- two angles, from -PI/2 to PI/2
- \sa angle operator-(const angle &) */
- angle
- dist(const angle &rhs)const
- {
- angle ret;
- ret.v=v-rhs.v;
- ret.v-=rot_floor(ret.v+PI);
- return ret;
- }
-
- //! Rotation Modulus
- /*! This function will return the
- value of the angle between 0 and 2PI */
- angle
- mod()const
- {
- angle ret(*this);
- ret.v-=rot_floor(ret.v);
- return ret;
- }
-
- //! Zero Rotation (0 degrees)
- static angle
- zero()
- {
- angle ret;
- ret.v=0;
- return ret;
- }
-
- //! One Complete Rotation (360 degrees)
- static angle
- one()
- {
- angle ret;
- ret.v=PI*2;
- return ret;
- }
-
- //! One Half Rotation (180 degrees)
- static angle
- half()
- {
- angle ret;
- ret.v=PI;
- return ret;
- }
-
- bool operator!()const { return std::abs(mod().v) < ANGLE_EPSILON; }
-
-private:
-
- static value_type rot_floor(value_type x)
- { return static_cast<value_type>(std::floor(x/(PI*2))*PI*2); }
-
-public:
- /*
- ** Conversion Classes
- */
-
- class rad;
- class deg;
- class rot;
-
- /*
- ** Trigonometric Classes
- */
-
- class sin;
- class cos;
- class tan;
-
- /*
- ** Friend classes
- */
-
- friend class rad;
- friend class deg;
- friend class rot;
- friend class sin;
- friend class cos;
- friend class tan;
-
- /*
- ** Deprecated
- */
-
-#ifndef ETL_NO_DEPRECATED
- typedef rad radians;
- typedef deg degrees;
- typedef rot rotations;
-#endif
-}; // END of class angle
-
-// ========================================================================
-/*! \class angle::rad _angle.h ETL/angle
-** \brief Angle representation in radians
-** \see angle
-** \writeme
-*/
-class angle::rad : public angle
-{
-public:
- explicit rad(const value_type &x) { v=x; }
- rad(const angle &a):angle(a) { }
- rad mod()const { return angle::mod(); }
- rad dist(const angle &rhs)const { return angle::dist(rhs); }
- value_type get()const { return v; }
-#ifndef ETL_NO_DEPRECATED
- // operator value_type()const ETL_DEPRECATED_FUNCTION;
-#endif
-}; // END of class angle::radians
-// inline angle::rad::operator angle::value_type()const { return get(); }
-
-// ========================================================================
-/*! \class angle::deg _angle.h ETL/angle
-** \brief Angle representation in degrees
-** \see angle
-** \writeme
-*/
-class angle::deg : public angle
-{
-public:
- explicit deg(const value_type &x) { v=x*((PI*2)/360); }
- deg(const angle &a):angle(a) { }
- deg mod()const { return angle::mod(); }
- deg dist(const angle &rhs)const { return angle::dist(rhs); }
- value_type get()const { return v*360/(PI*2); }
-#ifndef ETL_NO_DEPRECATED
- // operator value_type()const ETL_DEPRECATED_FUNCTION;
-#endif
-}; // END of class angle::degrees
-// inline angle::deg::operator angle::value_type()const { return get(); }
-
-// ========================================================================
-/*! \class angle::rot _angle.h ETL/angle
-** \brief Angle representation in rotations
-** \see angle
-** \writeme
-*/
-class angle::rot : public angle
-{
-public:
- explicit rot(const value_type &x) { v=x*(PI*2); }
- rot(const angle &a):angle(a) { }
- rot mod()const { return angle::mod(); }
- rot dist(const angle &rhs)const { return angle::dist(rhs); }
- value_type get()const { return v/(PI*2); }
-#ifndef ETL_NO_DEPRECATED
- // operator value_type()const ETL_DEPRECATED_FUNCTION;
-#endif
-}; // END of class angle::rotations
-// inline angle::rot::operator angle::value_type()const { return get(); }
-
-// ========================================================================
-/*! \class angle::sin _angle.h ETL/angle
-** \brief Angle representation as a sine function
-** \see angle
-** \writeme
-*/
-class angle::sin : public angle
-{
-public:
- explicit sin(const value_type &x) { v=static_cast<value_type>(std::asin(x)); }
- sin(const angle &a):angle(a) { }
- sin mod()const { return angle::mod(); }
- sin dist(const angle &rhs)const { return angle::dist(rhs); }
- value_type get()const { return static_cast<value_type>(std::sin(v)); }
-#ifndef ETL_NO_DEPRECATED
- // operator value_type()const ETL_DEPRECATED_FUNCTION;
-#endif
-}; // END of class angle::sin
-// inline angle::sin::operator angle::value_type()const { return get(); }
-
-// ========================================================================
-/*! \class angle::cos _angle.h ETL/angle
-** \brief Angle representation as a cosine function
-** \see angle
-** \writeme
-*/
-class angle::cos : public angle
-{
-public:
- explicit cos(const value_type &x) { v=(value_type)(std::acos(x)); }
- cos(const angle &a):angle(a) { }
- cos mod()const { return angle::mod(); }
- cos dist(const angle &rhs)const { return angle::dist(rhs); }
- value_type get()const { return (value_type)std::cos(v); }
-#ifndef ETL_NO_DEPRECATED
- // operator value_type()const ETL_DEPRECATED_FUNCTION;
-#endif
-}; // END of class angle::cos
-// inline angle::cos::operator angle::value_type()const { return get(); }
-
-// ========================================================================
-/*! \class angle::tan _angle.h ETL/angle
-** \brief Angle representation as a tangent function
-** \see angle
-** \writeme
-*/
-class angle::tan : public angle
-{
-public:
- explicit tan(const value_type &x) { v=(value_type)(std::atan(x)); }
- tan(const value_type &y,const value_type &x) { v=(value_type)(std::atan2(y,x)); }
- tan(const angle &a):angle(a) { }
- tan mod()const { return angle::mod(); }
- tan dist(const angle &rhs)const { return angle::dist(rhs); }
- value_type get()const { return (value_type)std::tan(v); }
-#ifndef ETL_NO_DEPRECATED
- // operator value_type()const ETL_DEPRECATED_FUNCTION;
-#endif
-}; // END of class angle::tan
-// inline angle::tan::operator angle::value_type()const { return get(); }
-
-_ETL_END_NAMESPACE
-
-//#include <iostream>
-
-template <typename T>
-struct affine_combo<etl::angle, T>
-{
- typedef T time_type;
-
- //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;
- }
-
- etl::angle reverse(const etl::angle &x, const etl::angle &b, const time_type &t)const
- {
- return x.dist(b*(float)t)*(float)(time_type(1)/(time_type(1)-t));
- }
-};
-
-template <>
-struct distance_func<etl::angle> : public std::binary_function<etl::angle, etl::angle, etl::angle>
-{
- etl::angle operator()(const etl::angle &a,const etl::angle &b)const
- {
- etl::angle delta=b.dist(a);
- //if(delta<etl::angle::zero())
- // 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
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