Merge pull request #114 from pockerman/add_unit_converter_utils

Add unit_converter namespace

Author: pockerman

src/rlenvs/utils/unit_converter.h

@@ -0,0 +1,36 @@
+#ifndef UNIT_CONVERTER_H
+#define UNIT_CONVERTER_H
+
+#include "rlenvs/rlenvs_types_v2.h"
+#include "rlenvs/rlenvs_consts.h"
+
+namespace rlenvscpp{
+namespace utils{
+namespace unit_converter{
+	
+	///
+    /// \brief Convert RPM to angular speed in m/s
+    ///
+    real_t rpm_to_angular_speed(uint_t rpm){return (2.0*rlenvscpp::consts::maths::PI * rpm) / 60.0;}
+
+    ///
+    /// \brief Convert RPM to angular speed in m/s
+    ///
+    real_t angular_speed_to_linear_speed(real_t r, real_t w){return r * w;}
+
+    ///
+    /// \brief Convert radians to degrees
+    ///
+    real_t rad_to_degrees(real_t rad){return (rad * 180.0) / rlenvscpp::consts::maths::PI;}
+
+    ///
+    /// \brief Convert degrees to radians
+    ///
+    real_t degrees_to_rad(real_t degs){return (degs * rlenvscpp::consts::maths::PI) / 180.0;}
+
+}	
+}
+}
+
+
+#endif