angles.hpp

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#include <cmath>
#include <pcl/pcl_macros.h>

namespace pcl
{
  inline float
  normAngle (float alpha)
  {
    return (alpha >= 0  ? 
        fmodf (alpha + static_cast<float>(M_PI), 
               2.0f * static_cast<float>(M_PI)) 
        - static_cast<float>(M_PI) 
        : 
        -(fmodf (static_cast<float>(M_PI) - alpha, 
                 2.0f * static_cast<float>(M_PI)) 
        - static_cast<float>(M_PI)));
  }

  inline float 
  rad2deg (float alpha)
  {
    return (alpha * 57.29578f);
  }

  inline float 
  deg2rad (float alpha)
  {
    return (alpha * 0.017453293f);
  }

  inline double 
  rad2deg (double alpha)
  {
    return (alpha * 57.29578);
  }

  inline double 
  deg2rad (double alpha)
  {
    return (alpha * 0.017453293);
  }
}