Add support for centidegree unit conversion.

rdiankov · Mar 20, 2024 · b2be11e · b2be11e
1 parent bc16ced
commit b2be11e
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Showing 4 changed files with 16 additions and 3 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,8 +4,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
-set (OPENRAVE_VERSION_MINOR 141)
-set (OPENRAVE_VERSION_PATCH 1)
+set (OPENRAVE_VERSION_MINOR 142)
+set (OPENRAVE_VERSION_PATCH 0)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")

diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
@@ -3,6 +3,11 @@
 ChangeLog
 #########
 
+Version 0.142.0
+===============
+
+* Add centidegree unit definition.
+
 Version 0.141.1
 ===============
 

diff --git a/include/openrave/units.h b/include/openrave/units.h
@@ -80,7 +80,8 @@ OPENRAVE_API TimeUnit GetTimeUnitFromString(const std::string& pTimeUnit, TimeUn
 enum AngleUnit : int8_t
 {
     AU_Radian = 0,
-    AU_Degree = 1
+    AU_Degree = 1,
+    AU_Centidegree = 2,
 };
 
 OPENRAVE_API const char* GetAngleUnitString(AngleUnit unit);
@@ -387,6 +388,9 @@ constexpr inline T GetAngleUnitStandardValue(const AngleUnit unit)
     if( unit == OpenRAVE::AU_Degree ) {
         return T(57.29577951308232);
     }
+    if( unit == OpenRAVE::AU_Centidegree ) {
+        return T(5729.577951308232);
+    }
 
     throw OPENRAVE_EXCEPTION_FORMAT("Unsupported angle unit '%s'", GetAngleUnitString(unit), ORE_LengthUnitInvalid);
     return T{};

diff --git a/src/libopenrave/units.cpp b/src/libopenrave/units.cpp
@@ -165,6 +165,7 @@ const char* GetAngleUnitString(AngleUnit unit)
     switch(unit) {
     case AU_Radian: return "rad";
     case AU_Degree: return "deg";
+    case AU_Centidegree: return "cdeg";
     }
     return "(unknown)";
 }
@@ -180,6 +181,9 @@ AngleUnit GetAngleUnitFromString(const char* pAngleUnit, AngleUnit defaultAngleU
     if( strcmp(pAngleUnit, "deg") == 0 ) {
         return AU_Degree;
     }
+    if( strcmp(pAngleUnit, "cdeg") == 0 ) {
+        return AU_Centidegree;
+    }
     throw OpenRAVEException(str(boost::format("Do not support AngleUnit '%s'")%pAngleUnit), ORE_AngleUnitInvalid);
 }