FUNCTION plane_angle_for_pair_in_radian

(* SCHEMA kinematic_structure_schema; *)

FUNCTION plane_angle_for_pair_in_radian
         (pair  : kinematic_pair;
          angle : plane_angle_measure) : plane_angle_measure;
  LOCAL
    converted_angle : plane_angle_measure := angle;
    link_rep        : kinematic_link_representation
                    := representation_of_link (pair.joint.first_link);
    link_cntxt      : representation_context;
    pa_units        : SET OF unit := [];
    pau             : unit;
  END_LOCAL;

  link_cntxt := link_rep\representation.context_of_items;

  IF NOT ('MEASURE_SCHEMA.GLOBAL_UNIT_ASSIGNED_CONTEXT'
          IN TYPEOF (link_cntxt)) THEN
    RETURN (?);
  END_IF;

  pa_units := QUERY (unit <* link_cntxt\global_unit_assigned_context.units |
                     'MEASURE_SCHEMA.PLANE_ANGLE_UNIT' IN TYPEOF (unit));

  IF SIZEOF (pa_units) <> 1 THEN
    RETURN (?);
  END_IF;

  pau := pa_units[1];

  IF (NOT ('MEASURE_SCHEMA.SI_UNIT' IN TYPEOF (pau)) AND
      NOT ('MEASURE_SCHEMA.CONVERSION_BASED_UNIT' IN TYPEOF (pau))) THEN
    RETURN (?);
  END_IF;

  REPEAT WHILE ('MEASURE_SCHEMA.CONVERSION_BASED_UNIT' IN TYPEOF (pau));
    converted_angle := converted_angle *
                       pau\conversion_based_unit.conversion_factor.
                       value_component;
    pau := pau\conversion_based_unit.conversion_factor.unit_component;

    IF ((NOT ('MEASURE_SCHEMA.SI_UNIT' IN TYPEOF (pau)) AND
         NOT ('MEASURE_SCHEMA.CONVERSION_BASED_UNIT' IN TYPEOF (pau))) OR
        (NOT ('MEASURE_SCHEMA.PLANE_ANGLE_UNIT' IN TYPEOF (pau)))) THEN
      RETURN (?);
    END_IF;
  END_REPEAT;

  IF (pau\si_unit.name <> si_unit_name.radian) THEN
    RETURN (?);
  END_IF;

  CASE pau\si_unit.prefix OF
    si_prefix.exa     : RETURN (1.E18 * converted_angle);
    si_prefix.peta    : RETURN (1.E15 * converted_angle);
    si_prefix.tera    : RETURN (1.E12 * converted_angle);
    si_prefix.giga    : RETURN (1.E9 * converted_angle);
    si_prefix.mega    : RETURN (1.E6 * converted_angle);
    si_prefix.kilo    : RETURN (1.E3 * converted_angle);
    si_prefix.hecto   : RETURN (1.E2 * converted_angle);
    si_prefix.deca    : RETURN (1.E1 * converted_angle);
    si_prefix.deci    : RETURN (1.E-1 * converted_angle);
    si_prefix.centi   : RETURN (1.E-2 * converted_angle);
    si_prefix.milli   : RETURN (1.E-3 * converted_angle);
    si_prefix.micro   : RETURN (1.E-6 * converted_angle);
    si_prefix.nano    : RETURN (1.E-9 * converted_angle);
    si_prefix.pico    : RETURN (1.E-12 * converted_angle);
    si_prefix.femto   : RETURN (1.E-15 * converted_angle);
    si_prefix.atto    : RETURN (1.E-18 * converted_angle);
  OTHERWISE           : RETURN (converted_angle);
  END_CASE;

END_FUNCTION;

Referenced By

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2012-03-27T17:14:00-04:00