source: rrlib_geometry/functions.h @ 1:e3a747b66680

Last change on this file since 1:e3a747b66680 was 1:e3a747b66680, checked in by Tobias Föhst <foehst@…>, 9 years ago

Added basic geometric shape class
Added lines, line segments and Bezier curves

This library is not meant or suited to replace mcal_geometry, yet...

File size: 2.3 KB
Line 
1//
2// You received this file as part of RRLib
3// Robotics Research Library
4//
5// Copyright (C) AG Robotersysteme TU Kaiserslautern
6//
7// This program is free software; you can redistribute it and/or
8// modify it under the terms of the GNU General Public License
9// as published by the Free Software Foundation; either version 2
10// of the License, or (at your option) any later version.
11//
12// This program is distributed in the hope that it will be useful,
13// but WITHOUT ANY WARRANTY; without even the implied warranty of
14// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
15// GNU General Public License for more details.
16//
17// You should have received a copy of the GNU General Public License
18// along with this program; if not, write to the Free Software
19// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
20//
21//----------------------------------------------------------------------
22/*!\file    functions.h
23 *
24 * \author  Tobias Foehst
25 *
26 * \date    2010-12-27
27 *
28 * \brief
29 *
30 * \b
31 *
32 * A few words for functions.h
33 *
34 */
35//----------------------------------------------------------------------
36#ifndef _rrlib_geometry_functions_h_
37#define _rrlib_geometry_functions_h_
38
39//----------------------------------------------------------------------
40// External includes with <>
41//----------------------------------------------------------------------
42#include <cmath>
43
44//----------------------------------------------------------------------
45// Internal includes with ""
46//----------------------------------------------------------------------
47
48//----------------------------------------------------------------------
49// Debugging
50//----------------------------------------------------------------------
51
52//----------------------------------------------------------------------
53// Namespace declaration
54//----------------------------------------------------------------------
55namespace rrlib
56{
57namespace geometry
58{
59
60
61
62template <typename TElement>
63inline const math::tAngleRad GetSlope(const tLineSegment<2, TElement> &line_segment)
64{
65  return std::atan2(line.End().Y() - line.Begin().Y(), line.End().X() - line.Begin().X());
66}
67
68//----------------------------------------------------------------------
69// End of namespace declaration
70//----------------------------------------------------------------------
71}
72}
73
74#endif
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