Angle Class Reference

#include <Util/Angle.H>

List of all members.

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Detailed Description

Embodiment of an angular value.

This class provides functions to manipulate and do maths on angles. The internal representation is a double value in degrees in the range ]-180.0 .. 180.0]. This is an all-inlined class, so there is no Angle.C file.

Definition at line 49 of file Angle.H.

Public Member Functions
Constructors, destructor, assigments, and conversions
	Angle (const double val=0.0)
	Constructor. Initial value should be in degrees.
	Angle (const Angle &ang)
	Copy constructor.
	~Angle ()
	Destructor.
Angle &	operator= (const Angle &ang)
	Assignment.
Angle &	operator= (const double ang)
	Assignment.
void	setVal (const double val)
	Set a new value in degrees.
double	getVal () const
	Get current value in degrees in ]-180.0 .. 180.0].
void	setRadians (const double val)
	Conversion from radians.
double	getRadians () const
	Get value in radians (in [-pi .. pi]).
Arithmetic operators
Angle &	operator+= (const Angle &other)
	Addition. Result is taken modulo 360 and remains in ]-180.0 .. 180.0].
Angle &	operator-= (const Angle &other)
	Subtraction. Result is taken modulo 360 and remains in ]-180.0 .. 180.0].
Angle &	operator *= (const double fac)
	Multiplication by a constant. Result remains in ]-180.0 .. 180.0].
Angle &	operator/= (const double fac)
	Division by a constant. Result remains in ]-180.0 .. 180.0].
Angle	operator+ (const Angle &other) const
	Addition of two angles. Result remains in ]-180.0 .. 180.0].
Angle	operator- (const Angle &other) const
	Subtraction of two angles. Result remains in ]-180.0 .. 180.0].
void	vectorAdd (const Angle &other, const double otherlen=1.0)
	Combine with another angle, in vector style.
bool	operator< (const Angle &other) const
	Comparison. USE WITH CAUTION!
bool	operator> (const Angle &other) const
	Comparison. USE WITH CAUTION!
bool	operator!= (const Angle &other) const
	Comparison. USE WITH CAUTION!
bool	operator< (const double other) const
	Comparison. USE WITH CAUTION!
bool	operator> (const double other) const
	Comparison. USE WITH CAUTION!
bool	operator!= (const double other) const
	Comparison. USE WITH CAUTION!

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Constructor & Destructor Documentation

Angle::Angle (  const double  val = 0.0  )  [inline]

Constructor. Initial value should be in degrees. Definition at line 167 of file Angle.H.

Angle::Angle (  const Angle &  ang  )  [inline]

Copy constructor. Definition at line 172 of file Angle.H.

Angle::~Angle (   )  [inline]

Destructor. Definition at line 177 of file Angle.H.

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Member Function Documentation

double Angle::getRadians (   )  const [inline]

Get value in radians (in [-pi .. pi]). Definition at line 201 of file Angle.H. Referenced by SeaBee::advanceRel(), BeoSubOneBal::advanceRel(), orientMe(), and tiltMe().

double Angle::getVal (   )  const [inline]

Get current value in degrees in ]-180.0 .. 180.0]. Definition at line 193 of file Angle.H. Referenced by BeoSub::ApproachPipeLine(), SupplementaryMotorAreaI::evolve(), BeoSub::LookForRedLight(), main(), BeoSubQtMainForm::matchAndDirect(), IMUListener::newData(), TestBeoSubIMUListener::newData(), TestHMR3300Listener::newData(), packageSensorResult(), BeoSub::pitchAbs(), BeoSubOneBal::setRotVel(), BeoSub::targetReached(), PreMotorComplex::turn(), BeoSub::turnAbs(), BeoSubOneBal::turnOpen(), and BeoSubOneBal::updateCompass().

Angle & Angle::operator *= (  const double  fac  )  [inline]

Multiplication by a constant. Result remains in ]-180.0 .. 180.0]. Definition at line 213 of file Angle.H.

bool Angle::operator!= (  const double  other  )  const [inline]

Comparison. USE WITH CAUTION! Definition at line 262 of file Angle.H.

bool Angle::operator!= (  const Angle &  other  )  const [inline]

Comparison. USE WITH CAUTION! Definition at line 250 of file Angle.H. References angle.

Angle Angle::operator+ (  const Angle &  other  )  const [inline]

Addition of two angles. Result remains in ]-180.0 .. 180.0]. Definition at line 221 of file Angle.H. References fixValue().

Angle & Angle::operator+= (  const Angle &  other  )  [inline]

Addition. Result is taken modulo 360 and remains in ]-180.0 .. 180.0]. Definition at line 205 of file Angle.H. References angle.

Angle Angle::operator- (  const Angle &  other  )  const [inline]

Subtraction of two angles. Result remains in ]-180.0 .. 180.0]. Definition at line 225 of file Angle.H. References fixValue().

Angle & Angle::operator-= (  const Angle &  other  )  [inline]

Subtraction. Result is taken modulo 360 and remains in ]-180.0 .. 180.0]. Definition at line 209 of file Angle.H. References angle.

Angle & Angle::operator/= (  const double  fac  )  [inline]

Division by a constant. Result remains in ]-180.0 .. 180.0]. Definition at line 217 of file Angle.H.

bool Angle::operator< (  const double  other  )  const [inline]

Comparison. USE WITH CAUTION! Definition at line 254 of file Angle.H.

bool Angle::operator< (  const Angle &  other  )  const [inline]

Comparison. USE WITH CAUTION! Definition at line 242 of file Angle.H. References angle.

Angle & Angle::operator= (  const double  ang  )  [inline]

Assignment. Definition at line 185 of file Angle.H.

Angle & Angle::operator= (  const Angle &  ang  )  [inline]

Assignment. Definition at line 181 of file Angle.H. References angle.

bool Angle::operator> (  const double  other  )  const [inline]

Comparison. USE WITH CAUTION! Definition at line 258 of file Angle.H.

bool Angle::operator> (  const Angle &  other  )  const [inline]

Comparison. USE WITH CAUTION! Definition at line 246 of file Angle.H. References angle.

void Angle::setRadians (  const double  val  )  [inline]

Conversion from radians. Definition at line 197 of file Angle.H.

void Angle::setVal (  const double  val  )  [inline]

Set a new value in degrees. Definition at line 189 of file Angle.H. Referenced by BeoSubDB::initializeDatabase().

void Angle::vectorAdd (  const Angle &  other, const double  otherlen = 1.0 )  [inline]

Combine with another angle, in vector style. This computes the sum of a unit vector with our angle and a vector with other's angle and optionally a given length. The result is the angle of the combined vector. Special cases (e.g., other is the exact opposite of us) are handled like atan2() would. Definition at line 229 of file Angle.H. References angle, lobot::cos(), lobot::sin(), x, and y.

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The documentation for this class was generated from the following file:

• src/Util/Angle.H

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