Apollo 10.0
自动驾驶开放平台
util.cc
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2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
18
19namespace apollo {
20namespace drivers {
21namespace velodyne {
22
23void init_sin_cos_rot_table(float* sin_rot_table, float* cos_rot_table,
24 uint16_t rotation, float rotation_resolution) {
25 for (uint16_t i = 0; i < rotation; ++i) {
26 // float rotation = angles::from_degrees(rotation_resolution * i);
27 float rotation =
28 rotation_resolution * static_cast<float>(i * M_PI) / 180.0f;
29 cos_rot_table[i] = cosf(rotation);
30 sin_rot_table[i] = sinf(rotation);
31 }
32}
33
34} // namespace velodyne
35} // namespace drivers
36} // namespace apollo
void init_sin_cos_rot_table(float *sin_rot_table, float *cos_rot_table, uint16_t rotation, float rotation_resolution)
Definition util.cc:23
class register implement
Definition arena_queue.h:37