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/*
* Copyright (C) 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
//! [complete]
#include <iostream>
#include <ignition/math/Angle.hh>
int main(int argc, char **argv)
{
// Create an angle.
ignition::math::Angle a;
// A default constructed angle should be zero.
std::cout << "The angle 'a' should be zero: " << a << std::endl;
a = ignition::math::Angle::Pi;
// Output the angle in radians and degrees.
std::cout << "Pi in radians: " << a << std::endl;
std::cout << "Pi in degrees: " << a.Degree() << std::endl;
// The Angle class overloads the +=, and many other, math operators.
a += ignition::math::Angle::HalfPi;
std::cout << "Pi + PI/2 in radians: " << a << std::endl;
std::cout << "Normalized to the range -Pi and Pi: "
<< a.Normalized() << std::endl;
}
//! [complete]
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