LaserMeasurementData.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/dev/LaserMeasurementData.h>
#include <cmath>
 
using namespace yarp::dev;
 
LaserMeasurementData::LaserMeasurementData()
{
    stored_x = stored_y = stored_angle = stored_distance = 0;
}
 
void LaserMeasurementData::set_cartesian(const double x, const double y)
{
    stored_x = x; stored_y = y; stored_distance = sqrt(x*x + y*y); stored_angle = atan2(y, x);
}
 
void LaserMeasurementData::set_polar(const double rho, const double theta)
{
    stored_angle = theta; stored_distance = rho; stored_y = rho*sin(theta); stored_x = rho*cos(theta);
}
 
void LaserMeasurementData::get_cartesian(double& x, double& y)
{
    x = stored_x; y = stored_y;
}
 
void LaserMeasurementData::get_polar(double& rho, double& theta)
{
    rho = stored_distance; theta = stored_angle;
}