A message field for an angle measurement which does not lose precision at very high angles. More...

#include <info.hpp>

Public Member Functions
	operator bool () const
	Allows casting to a bool to check if the field has a value without directly calling `has()`. More...

bool	has () const
	True if (and only if) the field has a value. More...

double	get () const
	If the field has a value, returns that value as a double; otherwise, returns a default. More...

void	get (int64_t revolutions, float radian_offset) const
	If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default. More...

Detailed Description

A message field for an angle measurement which does not lose precision at very high angles.

This field is represented as an int64_t for the number of revolutions and a float for the radian offset from that number of revolutions.

Member Function Documentation

◆ operator bool()

hebi::Info::HighResAngleField::operator bool ( ) const

inlineexplicit

Allows casting to a bool to check if the field has a value without directly calling has().

This can be used as in the following (assuming 'parent' is a parent message, and this field is called 'myField')

Info::HighResAngleField& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

◆ has()

bool hebi::Info::HighResAngleField::has ( ) const

True if (and only if) the field has a value.

◆ get() [1/2]

double hebi::Info::HighResAngleField::get ( ) const

If the field has a value, returns that value as a double; otherwise, returns a default.

Note that some precision might be lost converting to a double at very high number of revolutions.

◆ get() [2/2]

void hebi::Info::HighResAngleField::get	(	int64_t *	revolutions,
		float *	radian_offset
	)		const

If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default.

Note that this maintains the full precision of the underlying angle measurement, even for very large numbers of revolutions.

Parameters

revolutions	The number of full revolutions
radian_offset	The offset from the given number of full revolutions. Note that this is usually between 0 and `2*M_PI`, but callers should not assume this.