24 #include <geometry/hom_polar.h>
25 #include <geometry/hom_transform.h>
72 m_r = sqrt(
x() *
x() +
y() *
y() +
z() *
z() );
73 m_phi_z = atan2f(
y(),
x());;
74 m_phi_y = atan2f(
z(), sqrt(
x() *
x() +
y() *
y() ) );
97 if (
x() == 0.0 &&
y() == 0.0 &&
z() == 0.0 )
123 float phi_y = m_phi_y;
154 float phi_y = m_phi_y;
185 float phi_z = m_phi_z;
226 m_phi_z = atan2f(
y(),
x());
227 m_phi_y = atan2f(
z(), sqrt(
x() *
x() +
y() *
y() ) );
237 m_phi_z = atan2f(
y(),
x());
238 m_phi_y = atan2f(
z(), sqrt(
x() *
x() +
y() *
y() ) );
264 ret.m_phi_z = atan2f(ret.
y(), ret.
x());
265 ret.m_phi_y = atan2f(ret.
z(), sqrt( ret.
x() * ret.
x() + ret.
y() * ret.
y() ) );
294 ret.m_phi_z = atan2f(ret.
y(), ret.
x());
295 ret.m_phi_y = atan2f(ret.
z(), sqrt( ret.
x() * ret.
x() + ret.
y() * ret.
y() ) );