角度循环处理类，用于处理周期性角度计算。 A cyclic angle handling class for periodic angle calculations. More...

#include <cycle_value.hpp>

Public Member Functions
CycleValue &	operator= (const CycleValue &)=default
	赋值运算符重载。 Overloaded assignment operator.

	CycleValue (const Scalar &value)
	使用给定值初始化 `CycleValue`。 Initializes `CycleValue` with a given value.

	CycleValue (const CycleValue &value)
	拷贝构造函数，确保角度值在合法范围内。 Copy constructor ensuring the angle value remains within valid limits.

	CycleValue ()
	默认构造函数，初始化为 0。 Default constructor initializing the angle to 0.

CycleValue	operator+ (const Scalar &value)
	加法运算符重载。 Overloaded addition operator.

CycleValue	operator+ (const CycleValue &value)

CycleValue	operator+= (const Scalar &value)
	复合加法运算符重载。 Overloaded compound addition operator.

CycleValue	operator+= (const CycleValue &value)

Scalar	operator- (const Scalar &raw_value)
	减法运算符重载，计算角度差值并归一化到 `-π` 到 `π` 之间。 Overloaded subtraction operator, computing the angle difference and normalizing it to `-π` to `π`.

Scalar	operator- (const CycleValue &value)

CycleValue	operator-= (const Scalar &value)
	复合减法运算符重载。 Overloaded compound subtraction operator.

CycleValue	operator-= (const CycleValue &value)

CycleValue	operator- ()
	取反运算符重载，将角度转换到 `2π - value_`。 Overloaded negation operator, converting the angle to `2π - value_`.

	operator Scalar ()
	类型转换操作符，将 `CycleValue` 转换为 `Scalar`。 Type conversion operator to convert `CycleValue` to `Scalar`.

CycleValue &	operator= (const Scalar &value)
	赋值运算符重载，更新角度值并归一化。 Overloaded assignment operator, updating and normalizing the angle value.

Scalar	Value ()
	获取当前的角度值。 Retrieves the current angle value.

Static Public Member Functions
static Scalar	Calculate (Scalar value)
	计算角度值并归一化到 0 到 2π 之间。 Computes and normalizes the angle value within the range of 0 to 2π.

Private Attributes
Scalar	value_
	存储的角度值。 The stored angle value.

Detailed Description

template<typename Scalar = DefaultScalar>
class LibXR::CycleValue< Scalar >

角度循环处理类，用于处理周期性角度计算。 A cyclic angle handling class for periodic angle calculations.

该类用于处理 0 到 2π 之间的角度运算，确保角度始终保持在合法范围内，并提供加减运算和类型转换功能。 This class handles angle calculations within the range of 0 to 2π, ensuring values stay within valid limits and supporting addition, subtraction, and type conversion operations.

Template Parameters

Scalar 角度的存储类型，默认为 DefaultScalar。 The storage type for angles, default is DefaultScalar.

Definition at line 26 of file cycle_value.hpp.

Constructor & Destructor Documentation

◆ CycleValue() [1/3]

template<typename Scalar = DefaultScalar>

LibXR::CycleValue< Scalar >::CycleValue ( const Scalar & value )

inline

使用给定值初始化 CycleValue。 Initializes CycleValue with a given value.

Parameters

value 需要存储的角度值。 The angle value to be stored.

Definition at line 67 of file cycle_value.hpp.

67: value_(Calculate(value)) {}

LibXR::CycleValue::Calculate

static Scalar Calculate(Scalar value)

计算角度值并归一化到 0 到 2π 之间。 Computes and normalizes the angle value within the range of 0 to 2π.

Definition cycle_value.hpp:50

LibXR::CycleValue::value_

Scalar value_

存储的角度值。 The stored angle value.

Definition cycle_value.hpp:261

LibXR::min

constexpr auto min(T1 a, T2 b) -> typename std::common_type< T1, T2 >::type

计算两个数的最小值

Definition libxr_def.hpp:161

◆ CycleValue() [2/3]

template<typename Scalar = DefaultScalar>

LibXR::CycleValue< Scalar >::CycleValue ( const CycleValue< Scalar > & value )

inline

拷贝构造函数，确保角度值在合法范围内。 Copy constructor ensuring the angle value remains within valid limits.

Parameters

value 另一个 CycleValue 对象。 Another CycleValue object.

Definition at line 76 of file cycle_value.hpp.

                                      : value_(value.value_)
  {
    while (value_ >= M_2PI)
    {
      value_ -= M_2PI;
    }
 
    while (value_ < 0)
    {
      value_ += M_2PI;
    }
  }

◆ CycleValue() [3/3]

template<typename Scalar = DefaultScalar>

LibXR::CycleValue< Scalar >::CycleValue ( )

inline

默认构造函数，初始化为 0。 Default constructor initializing the angle to 0.

Definition at line 93 of file cycle_value.hpp.

93: value_(0.0f) {}

Member Function Documentation

◆ Calculate()

template<typename Scalar = DefaultScalar>

static Scalar LibXR::CycleValue< Scalar >::Calculate ( Scalar value )

inlinestatic

计算角度值并归一化到 0 到 2π 之间。 Computes and normalizes the angle value within the range of 0 to 2π.

Parameters

value 输入角度值。 The input angle value.

Returns: 归一化后的角度值。 The normalized angle value.

Definition at line 50 of file cycle_value.hpp.

  {
    value = std::fmod(value, M_2PI);
    if (value < 0)
    {
      value += M_2PI;
    }
    return value;
  }

◆ operator Scalar()

template<typename Scalar = DefaultScalar>

LibXR::CycleValue< Scalar >::operator Scalar ( )

inline

类型转换操作符，将 CycleValue 转换为 Scalar。 Type conversion operator to convert CycleValue to Scalar.

Returns: 以 Scalar 形式返回角度值。 Returns the angle value as Scalar.

Definition at line 234 of file cycle_value.hpp.

234{ return this->value_; }

◆ operator+() [1/2]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator+ ( const CycleValue< Scalar > & value )

inline

Definition at line 106 of file cycle_value.hpp.

  {
    return CycleValue(value.value_ + value_);
  }

◆ operator+() [2/2]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator+ ( const Scalar & value )

inline

加法运算符重载。 Overloaded addition operator.

Parameters

value 需要加上的角度值。 The angle value to be added.

Returns: 返回新的 CycleValue 对象。 Returns a new CycleValue object.

Definition at line 104 of file cycle_value.hpp.

104{ return CycleValue(value + value_); }

◆ operator+=() [1/2]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator+= ( const CycleValue< Scalar > & value )

inline

Definition at line 126 of file cycle_value.hpp.

  {
    Scalar ans = value.value_ + value_;
    while (ans >= M_2PI)
    {
      ans -= M_2PI;
    }
 
    while (ans < 0)
    {
      ans += M_2PI;
    }
 
    value_ = ans;
    return *this;
  }

◆ operator+=() [2/2]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator+= ( const Scalar & value )

inline

复合加法运算符重载。 Overloaded compound addition operator.

Parameters

value 需要加上的角度值。 The angle value to be added.

Returns: 返回自身的引用。 Returns a reference to itself.

Definition at line 120 of file cycle_value.hpp.

  {
    value_ = Calculate(value + value_);
    return *this;
  }

◆ operator-() [1/3]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator- ( )

inline

取反运算符重载，将角度转换到 2π - value_。 Overloaded negation operator, converting the angle to 2π - value_.

Returns: 返回取反后的 CycleValue。 Returns the negated CycleValue.

Definition at line 225 of file cycle_value.hpp.

225{ return CycleValue(M_2PI - value_); }

◆ operator-() [2/3]

template<typename Scalar = DefaultScalar>

Scalar LibXR::CycleValue< Scalar >::operator- ( const CycleValue< Scalar > & value )

inline

Definition at line 170 of file cycle_value.hpp.

  {
    Scalar ans = value_ - value.value_;
    while (ans >= M_PI)
    {
      ans -= M_2PI;
    }
 
    while (ans < -M_PI)
    {
      ans += M_2PI;
    }
 
    return ans;
  }

◆ operator-() [3/3]

template<typename Scalar = DefaultScalar>

Scalar LibXR::CycleValue< Scalar >::operator- ( const Scalar & raw_value )

inline

减法运算符重载，计算角度差值并归一化到 -π 到 π 之间。 Overloaded subtraction operator, computing the angle difference and normalizing it to -π to π.

Parameters

raw_value 需要减去的角度值。 The angle value to be subtracted.

Returns: 归一化后的角度差值。 The normalized angle difference.

Definition at line 153 of file cycle_value.hpp.

  {
    Scalar value = Calculate(raw_value);
    Scalar ans = value_ - value;
    while (ans >= M_PI)
    {
      ans -= M_2PI;
    }
 
    while (ans < -M_PI)
    {
      ans += M_2PI;
    }
 
    return ans;
  }

◆ operator-=() [1/2]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator-= ( const CycleValue< Scalar > & value )

inline

Definition at line 201 of file cycle_value.hpp.

  {
    Scalar ans = value_ - value.value_;
    while (ans >= M_2PI)
    {
      ans -= M_2PI;
    }
 
    while (ans < 0)
    {
      ans += M_2PI;
    }
 
    value_ = ans;
    return *this;
  }

◆ operator-=() [2/2]

template<typename Scalar = DefaultScalar>

CycleValue LibXR::CycleValue< Scalar >::operator-= ( const Scalar & value )

inline

复合减法运算符重载。 Overloaded compound subtraction operator.

Parameters

value 需要减去的角度值。 The angle value to be subtracted.

Returns: 返回自身的引用。 Returns a reference to itself.

Definition at line 195 of file cycle_value.hpp.

  {
    value_ = Calculate(value_ - value);
    return *this;
  }

◆ operator=() [1/2]

template<typename Scalar = DefaultScalar>

CycleValue & LibXR::CycleValue< Scalar >::operator= ( const CycleValue< Scalar > & )

default

赋值运算符重载。 Overloaded assignment operator.

赋值运算符默认使用编译器生成的实现。 The assignment operator uses the default compiler-generated implementation.

Returns: 返回赋值后的 CycleValue 对象。 Returns the assigned CycleValue object.

◆ operator=() [2/2]

template<typename Scalar = DefaultScalar>

CycleValue & LibXR::CycleValue< Scalar >::operator= ( const Scalar & value )

inline

赋值运算符重载，更新角度值并归一化。 Overloaded assignment operator, updating and normalizing the angle value.

Parameters

value 需要赋值的新角度值。 The new angle value to be assigned.

Returns: 返回自身的引用。 Returns a reference to itself.

Definition at line 245 of file cycle_value.hpp.

  {
    value_ = Calculate(value);
    return *this;
  }

◆ Value()

template<typename Scalar = DefaultScalar>

Scalar LibXR::CycleValue< Scalar >::Value ( )

inline

获取当前的角度值。 Retrieves the current angle value.

Returns: 角度值。 The angle value.

Definition at line 258 of file cycle_value.hpp.

258{ return value_; }

Field Documentation

◆ value_

template<typename Scalar = DefaultScalar>

Scalar LibXR::CycleValue< Scalar >::value_

private

存储的角度值。 The stored angle value.

Definition at line 261 of file cycle_value.hpp.

The documentation for this class was generated from the following file:

src/utils/cycle_value.hpp

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CycleValue() [1/3]

◆ CycleValue() [2/3]

◆ CycleValue() [3/3]

Member Function Documentation

◆ Calculate()

◆ operator Scalar()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-() [1/3]

◆ operator-() [2/3]

◆ operator-() [3/3]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Value()

Field Documentation

◆ value_