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; -- plane_angle_for_pair_in_radian
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