The Angle class uses an integer to represent an angle, and supports commonly-used operations such as addition and subtraction, as well as the use of trigonometric functions. More...

#include <angle.h>

Collaboration diagram for apollo::common::math::Angle< T >:

Public Member Functions
	Angle (const T value=0)
	Constructs an Angle object from raw internal value. More...

T	raw () const
	Getter of value_. More...

double	to_deg () const
	Converts the internal representation to degrees. More...

double	to_rad () const
	Converts the internal representation to radians. More...

Angle	operator+= (Angle other)
	Sums another angle to the current one. More...

Angle	operator-= (Angle other)
	Subtracts another angle from the current one. More...

template<typename Scalar >
Angle	operator*= (Scalar s)
	Multiplies angle by scalar. More...

template<typename Scalar >
Angle	operator/= (Scalar s)
	Divides angle by scalar. More...

Static Public Member Functions
static Angle	from_deg (const double value)
	Constructs an Angle object from an angle in degrees (factory). More...

static Angle	from_rad (const double value)
	Constructs an Angle object from an angle in radians (factory). More...

Static Public Attributes
static constexpr T	RAW_PI = std::numeric_limits<T>::min()
	Internal representation of pi. More...

static constexpr T	RAW_PI_2
	Internal representation of pi/2. More...

static constexpr double	DEG_TO_RAW = RAW_PI / -180.0
	Used for converting angle units. More...

static constexpr double	RAD_TO_RAW = RAW_PI * -M_1_PI
	Used for converting angle units. More...

static constexpr double	RAW_TO_DEG = -180.0 / RAW_PI
	Used for converting angle units. More...

static constexpr double	RAW_TO_RAD = -M_PI / RAW_PI
	Used for converting angle units. More...

Detailed Description

template<typename T>
class apollo::common::math::Angle< T >

The Angle class uses an integer to represent an angle, and supports commonly-used operations such as addition and subtraction, as well as the use of trigonometric functions.

Having a specialized Angle class prevents code repetition, namely for tasks such as computing angle differences or finding equivalent angles in some specified interval, typically [-pi, pi). Representing angles by integers has the following advantages: 1) Finer level of precision control (< means "less precise than"): Angle8 < Angle16 < float < Angle32 < double < Angle64. 2) Angle8 and Angle16 allow super fast trigonometric functions via a 64-KiB lookup table. 3) Higher precision with the same representation size. The use of the Angle class is encouraged. In particular, Angle32 should be used for latitude/longitude (<1cm error). Angle16 is precise enough for localization/object detection.

Parameters

T	signed integer type

Constructor & Destructor Documentation

◆ Angle()

template<typename T>

apollo::common::math::Angle< T >::Angle ( const T value = 0 )

inlineexplicit

Constructs an Angle object from raw internal value.

Parameters

value Angle in degrees

Returns: Angle object

Member Function Documentation

◆ from_deg()

template<typename T>

static Angle apollo::common::math::Angle< T >::from_deg ( const double value )

inlinestatic

Constructs an Angle object from an angle in degrees (factory).

Parameters

value Angle in degrees

Returns: Angle object

◆ from_rad()

template<typename T>

static Angle apollo::common::math::Angle< T >::from_rad ( const double value )

inlinestatic

Constructs an Angle object from an angle in radians (factory).

Parameters

value Angle in radians

Returns: Angle object

◆ operator*=()

template<typename T>

template<typename Scalar >

Angle apollo::common::math::Angle< T >::operator*= ( Scalar s )

inline

Multiplies angle by scalar.

Parameters

s A scalar

Returns: Result of multiplication

◆ operator+=()

template<typename T>

Angle apollo::common::math::Angle< T >::operator+= ( Angle< T > other )

inline

Sums another angle to the current one.

Parameters

other Another Angle object

Returns: Result of sum

◆ operator-=()

template<typename T>

Angle apollo::common::math::Angle< T >::operator-= ( Angle< T > other )

inline

Subtracts another angle from the current one.

Parameters

other Another Angle object

Returns: Result of subtraction

◆ operator/=()

template<typename T>

template<typename Scalar >

Angle apollo::common::math::Angle< T >::operator/= ( Scalar s )

inline

Divides angle by scalar.

Parameters

s A scalar

Returns: Result of division

◆ raw()

template<typename T>

T apollo::common::math::Angle< T >::raw ( ) const

inline

Getter of value_.

Returns: Internal unsigned integer representation of angle

◆ to_deg()

template<typename T>

double apollo::common::math::Angle< T >::to_deg ( ) const

inline

Converts the internal representation to degrees.

Returns: angle in degrees

◆ to_rad()

template<typename T>

double apollo::common::math::Angle< T >::to_rad ( ) const

inline

Converts the internal representation to radians.

Returns: angle in radians

Member Data Documentation

◆ DEG_TO_RAW

template<typename T>

constexpr double apollo::common::math::Angle< T >::DEG_TO_RAW = RAW_PI / -180.0

static

Used for converting angle units.

◆ RAD_TO_RAW

template<typename T>

constexpr double apollo::common::math::Angle< T >::RAD_TO_RAW = RAW_PI * -M_1_PI

static

Used for converting angle units.

◆ RAW_PI

template<typename T>

constexpr T apollo::common::math::Angle< T >::RAW_PI = std::numeric_limits<T>::min()

static

Internal representation of pi.

◆ RAW_PI_2

template<typename T>

constexpr T apollo::common::math::Angle< T >::RAW_PI_2

static

Initial value:

=

static_cast<T>(-(std::numeric_limits<T>::min() >> 1))

Internal representation of pi/2.

◆ RAW_TO_DEG

template<typename T>

constexpr double apollo::common::math::Angle< T >::RAW_TO_DEG = -180.0 / RAW_PI

static

Used for converting angle units.

◆ RAW_TO_RAD

template<typename T>

constexpr double apollo::common::math::Angle< T >::RAW_TO_RAD = -M_PI / RAW_PI

static

Used for converting angle units.

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

modules/common/math/angle.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

template<typename T> class apollo::common::math::Angle< T >

Constructor & Destructor Documentation

◆ Angle()

Member Function Documentation

◆ from_deg()

◆ from_rad()

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ raw()

◆ to_deg()

◆ to_rad()

Member Data Documentation

◆ DEG_TO_RAW

◆ RAD_TO_RAW

◆ RAW_PI

◆ RAW_PI_2

◆ RAW_TO_DEG

◆ RAW_TO_RAD

template<typename T>
class apollo::common::math::Angle< T >