apollo::common::math::Angle< T > 模板类 参考

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. 更多...

#include <angle.h>

apollo::common::math::Angle< T > 的协作图:

Public 成员函数
	Angle (const T value=0)
	Constructs an Angle object from raw internal value.
T	raw () const
	Getter of value_.
double	to_deg () const
	Converts the internal representation to degrees.
double	to_rad () const
	Converts the internal representation to radians.
Angle	operator+= (Angle other)
	Sums another angle to the current one.
Angle	operator-= (Angle other)
	Subtracts another angle from the current one.
template<typename Scalar >
Angle	operator*= (Scalar s)
	Multiplies angle by scalar
template<typename Scalar >
Angle	operator/= (Scalar s)
	Divides angle by scalar

静态 Public 成员函数
static Angle	from_deg (const double value)
	Constructs an Angle object from an angle in degrees (factory).
static Angle	from_rad (const double value)
	Constructs an Angle object from an angle in radians (factory).

静态 Public 属性
static constexpr T	RAW_PI = std::numeric_limits<T>::min()
	Internal representation of pi
static constexpr T	RAW_PI_2
	Internal representation of pi/2
static constexpr double	DEG_TO_RAW = RAW_PI / -180.0
	Used for converting angle units
static constexpr double	RAD_TO_RAW = RAW_PI * -M_1_PI
	Used for converting angle units
static constexpr double	RAW_TO_DEG = -180.0 / RAW_PI
	Used for converting angle units
static constexpr double	RAW_TO_RAD = -M_PI / RAW_PI
	Used for converting angle units

详细描述

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.

参数

T	signed integer type

在文件 angle.h 第 58 行定义.

构造及析构函数说明

Angle()

template<typename T >

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

inlineexplicit

Constructs an Angle object from raw internal value.

参数

value

Angle in degrees

返回

Angle object

在文件 angle.h 第 87 行定义.

: value_(value) {}

成员函数说明

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).

参数

value

Angle in degrees

返回

Angle object

在文件 angle.h 第 69 行定义.

                                            {
    return Angle(static_cast<T>(std::lround(value * DEG_TO_RAW)));
  }

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).

参数

value

Angle in radians

返回

Angle object

在文件 angle.h 第 78 行定义.

                                            {
    return Angle(static_cast<T>(std::lround(value * RAD_TO_RAW)));
  }

operator*=()

template<typename T >

template<typename Scalar >

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

inline

Multiplies angle by scalar

参数

s

A scalar

返回

Result of multiplication

在文件 angle.h 第 152 行定义.

                             {
    value_ = static_cast<T>(std::lround(value_ * s));
    return *this;
  }

operator+=()

template<typename T >

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

inline

Sums another angle to the current one.

参数

other

Another Angle object

返回

Result of sum

在文件 angle.h 第 131 行定义.

                                {
    value_ = static_cast<T>(value_ + other.value_);
    return *this;
  }

operator-=()

template<typename T >

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

inline

Subtracts another angle from the current one.

参数

other

Another Angle object

返回

Result of subtraction

在文件 angle.h 第 141 行定义.

                                {
    value_ = static_cast<T>(value_ - other.value_);
    return *this;
  }

operator/=()

template<typename T >

template<typename Scalar >

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

inline

Divides angle by scalar

参数

s

A scalar

返回

Result of division

在文件 angle.h 第 163 行定义.

                             {
    value_ = static_cast<T>(std::lround(value_ / s));
    return *this;
  }

raw()

template<typename T >

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

inline

Getter of value_.

返回

Internal unsigned integer representation of angle

在文件 angle.h 第 112 行定义.

{ return value_; }

to_deg()

template<typename T >

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

inline

Converts the internal representation to degrees.

返回

angle in degrees

在文件 angle.h 第 118 行定义.

{ return value_ * RAW_TO_DEG; }

to_rad()

template<typename T >

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

inline

Converts the internal representation to radians.

返回

angle in radians

在文件 angle.h 第 124 行定义.

{ return value_ * RAW_TO_RAD; }

类成员变量说明

DEG_TO_RAW

template<typename T >

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

staticconstexpr

Used for converting angle units

在文件 angle.h 第 97 行定义.

RAD_TO_RAW

template<typename T >

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

staticconstexpr

Used for converting angle units

在文件 angle.h 第 100 行定义.

RAW_PI

template<typename T >

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

staticconstexpr

Internal representation of pi

在文件 angle.h 第 90 行定义.

RAW_PI_2

template<typename T >

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

staticconstexpr

初始值:

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

Internal representation of pi/2

在文件 angle.h 第 93 行定义.

RAW_TO_DEG

template<typename T >

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

staticconstexpr

Used for converting angle units

在文件 angle.h 第 103 行定义.

RAW_TO_RAD

template<typename T >

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

staticconstexpr

Used for converting angle units

在文件 angle.h 第 106 行定义.

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该类的文档由以下文件生成:

• modules/common/math/angle.h