Measures.h File Reference

#include "Shared/fmatCore.h"
#include <cmath>

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Classes
class	PlaneEquation
	Representation of a plane as ax + by + cz = d; used for representing the ground plane. More...
class	AngPi
	Circular arithmetic on angles between 0 and pi (180 degrees). More...
class	AngTwoPi
	Circular arithmetic on angles between 0 and two pi (360 degrees). More...
class	AngSignPi
	Circular arithmetic on angles between -pi and pi (360 degrees). More...
class	AngSignTwoPi
	Turn with an explicit direction: angles between -2*pi and 2*pi (+/- 360 degrees). More...
Typedefs
typedef float	coordinate_t
	type used for positional coordinates
typedef float	orientation_t
	type used for orientation values (0 to Pi)
typedef float	direction_t
	type used for direction values (0 to 2*Pi)
typedef coordinate_t	Slope
	type used for ratio of coordinate offsets
Functions
std::ostream &	operator<< (std::ostream &os, const PlaneEquation &p)
AngPi	angdist (AngPi const &arg1, AngPi const &arg2)
	Angular distance: value is between 0 and pi/2.
AngPi	angdist (AngTwoPi const &arg1, AngTwoPi const &arg2)
	Angular distance: value is between 0 and pi.
AngPi	angdist (AngSignPi const &arg1, AngSignPi const &arg2)
	Angular distance: value is between 0 and pi.
Variables
const direction_t	Pi = static_cast<direction_t>(M_PI)
	shorthand for M_PI from math.h
const direction_t	TwoPi = static_cast<direction_t>(2*M_PI)
	shorthand for 2*M_PI
const Slope	BIG_SLOPE = static_cast<Slope>(5000)
	slopes larger than this are considered vertical, or in other words, infinite slopes are rounded to this

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Typedef Documentation

typedef float coordinate_t

type used for positional coordinates

Definition at line 34 of file Measures.h.

typedef float direction_t

type used for direction values (0 to 2*Pi)

Definition at line 36 of file Measures.h.

typedef float orientation_t

type used for orientation values (0 to Pi)

Definition at line 35 of file Measures.h.

typedef coordinate_t Slope

type used for ratio of coordinate offsets

Definition at line 41 of file Measures.h.

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Function Documentation

AngPi angdist	(	AngSignPi const &	arg1,
		AngSignPi const &	arg2
	)

Angular distance: value is between 0 and pi.

Definition at line 93 of file Measures.cc.

AngPi angdist	(	AngTwoPi const &	arg1,
		AngTwoPi const &	arg2
	)

Angular distance: value is between 0 and pi.

Definition at line 66 of file Measures.cc.

AngPi angdist	(	AngPi const &	arg1,
		AngPi const &	arg2
	)

Angular distance: value is between 0 and pi/2.

Definition at line 41 of file Measures.cc.

Referenced by CBracketGrasperPredicate< N >::admissible(), and LocalShapeEvaluator::evaluateWorkhorse().

std::ostream& operator<<	(	std::ostream &	os,
		const PlaneEquation &	p
	)

Definition at line 15 of file Measures.cc.

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Variable Documentation

const Slope BIG_SLOPE = static_cast<Slope>(5000)

slopes larger than this are considered vertical, or in other words, infinite slopes are rounded to this

Definition at line 42 of file Measures.h.

const direction_t Pi = static_cast<direction_t>(M_PI)

shorthand for M_PI from math.h

Definition at line 38 of file Measures.h.

Referenced by angdist(), LookAtMarkers::Search::doStart(), LookAtMarkers::SelectMarker::doStart(), AngSignPi::normalize(), AngPi::normalize(), and mathutils::normalizeAngle().

const direction_t TwoPi = static_cast<direction_t>(2*M_PI)

shorthand for 2*M_PI

Definition at line 39 of file Measures.h.

Referenced by angdist(), AngSignTwoPi::normalize(), AngSignPi::normalize(), AngTwoPi::normalize(), AngPi::normalize(), and mathutils::normalizeAngle().