.. _jointangles:

==============
 Joint Angles
==============

``Joint Angle`` is a domain-specific :ref:`Data Transfer Object <dto>` (DTO) 
to hold and exchange joint angles (often also referred to as *joint position*).

It can be multi-dimensional to contain several joint angles, for example of an
entire robot limb. Its default representation is ``rad``, but it also provides
getters and setters for representation in ``deg``.

An example how to create a joint angle representation from a rad value is and
access it later in degrees:

.. code-block:: c++
    
    // Creating and accessing a single value
    rci::JointAnglesPtr angle = rci::JointAngles::fromRad(0.123);
    ...
    std::cout << angle->deg() << std::endl;

    // Creating and accessing a joint angles vector
    nemo::RealVector degs = nemo::RealVector(nemo::dim(4), 10.0);
    rci::JointAnglesPtr angles = rci::JointAngles::fromDeg(degs);
    ...
    std::cout << angles->radVector() << std::endl;

.