LengthScaling.h

Go to the documentation of this file.

#pragma once
 
namespace armarx
{
 
    class LengthScaling
    {
    public:
        /// Constructor. Enables scaling.
        LengthScaling();
 
 
        /// Set scaling of meter to millimeter to 1000.
        void enable();
        /// Set scaling of meter to millimeter to 1.
        void disable();
        /// Enable or disable length scaling.
        void setEnabled(bool enabled);
 
 
        /// Get the scaling factor for: millimeter = meter * factor.
        float meterToMilli() const;
        /// Get the scaling factor for: meter = millimeter * factor.
        float milliToMeter() const;
 
        /// Scale the given meter value to millimeter.
        template <typename ValueT>
        ValueT
        meterToMilli(const ValueT& meter) const
        {
            return meter * _meterToMilli;
        }
 
        /// Scale the given millimeter value to meter.
        template <typename ValueT>
        ValueT
        milliToMeter(const ValueT& millimeter) const
        {
            return millimeter / _meterToMilli;
        }
 
 
    private:
        float _meterToMilli = 1000;
    };
 
} // namespace armarx