Angle.h

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#ifndef LOAM_ANGLE_H
#define LOAM_ANGLE_H
 
#include <math.h>
#include <cmath>
 
namespace holistic_fusion {

class Angle {
 public:
  Angle() : _radian(0.0), _cos(1.0), _sin(0.0) {}
 
  Angle(float radValue) : _radian(radValue), _cos(std::cos(radValue)), _sin(std::sin(radValue)) {}
 
  Angle(const Angle& other) : _radian(other._radian), _cos(other._cos), _sin(other._sin) {}
 
  void operator=(const Angle& rhs) {
    _radian = (rhs._radian);
    _cos = (rhs._cos);
    _sin = (rhs._sin);
  }
 
  void operator+=(const float& radValue) { *this = (_radian + radValue); }
 
  void operator+=(const Angle& other) { *this = (_radian + other._radian); }
 
  void operator-=(const float& radValue) { *this = (_radian - radValue); }
 
  void operator-=(const Angle& other) { *this = (_radian - other._radian); }
 
  Angle operator-() const {
    Angle out;
    out._radian = -_radian;
    out._cos = _cos;
    out._sin = -(_sin);
    return out;
  }
 
  float rad() const { return _radian; }
 
  float deg() const { return float(_radian * 180 / M_PI); }
 
  float cos() const { return _cos; }
 
  float sin() const { return _sin; }
 
 private:
  float _radian;  
  float _cos;     
  float _sin;     
};
 
}  // namespace holistic_fusion
 
#endif  // LOAM_ANGLE_H