From d5db41bb06e27bc8853b7e0456e10c154c4418a2 Mon Sep 17 00:00:00 2001
From: wmayer <wmayer@freecad.org>
Date: Tue, 22 Oct 2024 21:56:57 +0200
Subject: [PATCH] Robot: Use Base::toRadians to convert degree to radian

---
 src/Mod/Robot/App/Robot6Axis.cpp | 33 +++++++++++++-------------------
 src/Mod/Robot/App/RobotAlgos.cpp |  9 ---------
 src/Mod/Robot/App/Trajectory.cpp |  8 --------
 src/Mod/Robot/App/Waypoint.cpp   |  9 ---------
 4 files changed, 13 insertions(+), 46 deletions(-)

diff --git a/src/Mod/Robot/App/Robot6Axis.cpp b/src/Mod/Robot/App/Robot6Axis.cpp
index 43707a2592..d48318e2ff 100644
--- a/src/Mod/Robot/App/Robot6Axis.cpp
+++ b/src/Mod/Robot/App/Robot6Axis.cpp
@@ -30,20 +30,13 @@
 #include <Base/FileInfo.h>
 #include <Base/Reader.h>
 #include <Base/Stream.h>
+#include <Base/Tools.h>
 #include <Base/Writer.h>
 
 #include "Robot6Axis.h"
 #include "RobotAlgos.h"
 
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846 /* pi */
-#endif
-
-#ifndef M_PI_2
-#define M_PI_2 1.57079632679489661923 /* pi/2 */
-#endif
-
 using namespace Robot;
 using namespace Base;
 using namespace KDL;
@@ -85,12 +78,12 @@ void Robot6Axis::setKinematic(const AxisDefinition KinDef[6])
     for (int i = 0; i < 6; i++) {
         temp.addSegment(Segment(Joint(Joint::RotZ),
                                 Frame::DH(KinDef[i].a,
-                                          KinDef[i].alpha * (M_PI / 180),
+                                          Base::toRadians<double>(KinDef[i].alpha),
                                           KinDef[i].d,
-                                          KinDef[i].theta * (M_PI / 180))));
+                                          Base::toRadians<double>(KinDef[i].theta))));
         RotDir[i] = KinDef[i].rotDir;
-        Max(i) = KinDef[i].maxAngle * (M_PI / 180);
-        Min(i) = KinDef[i].minAngle * (M_PI / 180);
+        Max(i) = Base::toRadians<double>(KinDef[i].maxAngle);
+        Min(i) = Base::toRadians<double>(KinDef[i].minAngle);
         Velocity[i] = KinDef[i].velocity;
     }
 
@@ -103,12 +96,12 @@ void Robot6Axis::setKinematic(const AxisDefinition KinDef[6])
 
 double Robot6Axis::getMaxAngle(int Axis)
 {
-    return Max(Axis) * (180.0 / M_PI);
+    return Base::toDegrees<double>(Max(Axis));
 }
 
 double Robot6Axis::getMinAngle(int Axis)
 {
-    return Min(Axis) * (180.0 / M_PI);
+    return Base::toDegrees<double>(Min(Axis));
 }
 
 void split(std::string const& string, const char delimiter, std::vector<std::string>& destination)
@@ -179,8 +172,8 @@ void Robot6Axis::Save(Writer& writer) const
                         << "Q2=\"" << Tip.getRotation()[2] << "\" "
                         << "Q3=\"" << Tip.getRotation()[3] << "\" "
                         << "rotDir=\"" << RotDir[i] << "\" "
-                        << "maxAngle=\"" << Max(i) * (180.0 / M_PI) << "\" "
-                        << "minAngle=\"" << Min(i) * (180.0 / M_PI) << "\" "
+                        << "maxAngle=\"" << Base::toDegrees<double>(Max(i)) << "\" "
+                        << "minAngle=\"" << Base::toDegrees<double>(Min(i)) << "\" "
                         << "AxisVelocity=\"" << Velocity[i] << "\" "
                         << "Pos=\"" << Actual(i) << "\"/>" << std::endl;
     }
@@ -212,8 +205,8 @@ void Robot6Axis::Restore(XMLReader& reader)
             Velocity[i] = 1.0;
         }
         // read the axis constraints
-        Min(i) = reader.getAttributeAsFloat("maxAngle") * (M_PI / 180);
-        Max(i) = reader.getAttributeAsFloat("minAngle") * (M_PI / 180);
+        Min(i) = Base::toRadians<double>(reader.getAttributeAsFloat("maxAngle"));
+        Max(i) = Base::toRadians<double>(reader.getAttributeAsFloat("minAngle"));
         if (reader.hasAttribute("AxisVelocity")) {
             Velocity[i] = reader.getAttributeAsFloat("AxisVelocity");
         }
@@ -292,11 +285,11 @@ bool Robot6Axis::calcTcp()
 
 bool Robot6Axis::setAxis(int Axis, double Value)
 {
-    Actual(Axis) = RotDir[Axis] * Value * (M_PI / 180);  // degree to radiants
+    Actual(Axis) = RotDir[Axis] * Base::toRadians<double>(Value);
     return calcTcp();
 }
 
 double Robot6Axis::getAxis(int Axis)
 {
-    return RotDir[Axis] * (Actual(Axis) / (M_PI / 180));  // radian to degree
+    return RotDir[Axis] * Base::toDegrees<double>(Actual(Axis));
 }
diff --git a/src/Mod/Robot/App/RobotAlgos.cpp b/src/Mod/Robot/App/RobotAlgos.cpp
index baf23c9f1a..28738bd48e 100644
--- a/src/Mod/Robot/App/RobotAlgos.cpp
+++ b/src/Mod/Robot/App/RobotAlgos.cpp
@@ -35,15 +35,6 @@ using namespace Robot;
 using namespace std;
 using namespace KDL;
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#define M_PI 3.14159265358979323846 /* pi */
-#endif
-
-#ifndef M_PI_2
-#define M_PI_2 1.57079632679489661923 /* pi/2 */
-#endif
-
 //===========================================================================
 // FeatureView
 //===========================================================================
diff --git a/src/Mod/Robot/App/Trajectory.cpp b/src/Mod/Robot/App/Trajectory.cpp
index 564499260a..221b1d1dc0 100644
--- a/src/Mod/Robot/App/Trajectory.cpp
+++ b/src/Mod/Robot/App/Trajectory.cpp
@@ -42,14 +42,6 @@
 #include "Trajectory.h"
 
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846 /* pi */
-#endif
-
-#ifndef M_PI_2
-#define M_PI_2 1.57079632679489661923 /* pi/2 */
-#endif
-
 using namespace Robot;
 using namespace Base;
 
diff --git a/src/Mod/Robot/App/Waypoint.cpp b/src/Mod/Robot/App/Waypoint.cpp
index 85b95e155f..4736842ec0 100644
--- a/src/Mod/Robot/App/Waypoint.cpp
+++ b/src/Mod/Robot/App/Waypoint.cpp
@@ -31,15 +31,6 @@
 #include "Waypoint.h"
 
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#define M_PI 3.14159265358979323846 /* pi */
-#endif
-
-#ifndef M_PI_2
-#define M_PI_2 1.57079632679489661923 /* pi/2 */
-#endif
-
 using namespace Robot;
 using namespace Base;
 using namespace KDL;