AngleUnits.h

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#include "ReferenceFrame.h"
 
#ifndef _GAMS_POSE_ANGLE_UNITS_H_
#define _GAMS_POSE_ANGLE_UNITS_H_
 
#include "Orientation.h"
 
namespace gams
{
  namespace pose
  {
    namespace detail
    {
      struct radians_t
      {
        double to_radians(double in) { return in; }
        double from_radians(double in) { return in; }
      };
 
      struct degrees_t
      {
        double to_radians(double in) { return DEG_TO_RAD(in); }
        double from_radians(double in) { return RAD_TO_DEG(in); }
      };
 
      struct revolutions_t
      {
        double to_radians(double in) { return in * 2 * M_PI; }
        double from_radians(double in) { return in / (2 * M_PI); }
      };
    } // namespace detail
 
    static const detail::radians_t radians;
 
    static const detail::degrees_t degrees;
 
    static const detail::revolutions_t revolutions;
  }
}
 
#endif