internal_angle.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GEOMETRY__VECTOR3__INTERNAL_ANGLE_HPP_
#define GEOMETRY__VECTOR3__INTERNAL_ANGLE_HPP_
 
#include <geometry/vector3/inner_product.hpp>
#include <geometry/vector3/is_like_vector3.hpp>
#include <geometry/vector3/norm.hpp>
#include <scenario_simulator_exception/exception.hpp>
 
namespace math
{
namespace geometry
{
template <
  typename T, typename U,
  std::enable_if_t<std::conjunction_v<IsLikeVector3<T>, IsLikeVector3<U>>, std::nullptr_t> =
    nullptr>
auto getInternalAngle(const T & v0, const U & v1)
{
  const auto val = innerProduct(v0, v1) / (norm(v0) * norm(v1));
  if (-1 <= val && val <= 1) {
    return std::acos(val);
  }
  THROW_SIMULATION_ERROR(
    "value of v0*v1/(size(v0)*size(v1)) in vector v0 : ", v0.x, ",", v0.y, ",", v0.z,
    " and v1 : ", v1.x, ",", v1.y, ",", v1.z, "is out of range, value = ", val);
}
}  // namespace geometry
}  // namespace math
 
#endif  // GEOMETRY__VECTOR3__INTERNAL_ANGLE_HPP_