(二)pcl-common篇-angles.h

#include<pcl/point_cloud.h>
#include<pcl/point_types.h>
#include<pcl/visualization/pcl_visualizer.h> //cout endl

#include <pcl/common/angles.h>

typedef pcl::PointXYZ PointT;

int main()
{
    float a1 = pcl::rad2deg((float)M_PI / 2);
    double a2 = pcl::rad2deg(M_PI / 2);

    float b1 = pcl::deg2rad((float)90.0);
    double b2 = pcl::deg2rad(90.0);

    float c = pcl::normAngle(4);//将弧度归一化，输入为弧度然后取余，取值范围:(-PI — PI)

    system("pause");
    return 0;
}

inline float
normAngle (float alpha)
  {
    return (alpha >= 0  ? 
        std::fmod (alpha + static_cast<float>(M_PI), 
               2.0f * static_cast<float>(M_PI)) 
        - static_cast<float>(M_PI) 
        : 
        -(std::fmod (static_cast<float>(M_PI) - alpha, 
                 2.0f * static_cast<float>(M_PI)) 
        - static_cast<float>(M_PI)));
  }

fmodf是求取余数，在这里是想把弧度转换到-M_PI到M_PI之间

fmodf(12.3,5)=2.3；

参考文章:
https://pointclouds.org/documentation/angles_8h.html
https://pointclouds.org/documentation/angles_8h_source.html