MathUtils.h

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/* ============================================================
 *
 * This file is a part of the RSC project.
 *
 * Copyright (C) 2010 by Johannes Wienke <jwienke at techfak dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include "rsc/rscexports.h"

namespace rsc {
namespace math {

class RSC_EXPORT MathUtils {
public:

    static double getDefaultAnglePrecision();

    static double normalizeAngle(const double& angleInRad);

    static bool isSameAngle(const double& firstInRad,
            const double& secondInRad, const double& precision =
                    getDefaultAnglePrecision());

    static double radianFromDegree(const double& degree);

    static double degreeFromRadian(const double& radian);

    static double getDefaultClosePrecision();

    static bool isClose(const double& a, const double& b,
            const double& precision = getDefaultClosePrecision());

private:
    static double getTwoPi();

};

}
}