angles Namespace Reference

## Functions

static bool find_min_max_delta (double from, double left_limit, double right_limit, double &result_min_delta, double &result_max_delta)
This function is only intended for internal use and not intended for external use. If you do use it, read the documentation very carefully. Returns the min and max amount (in radians) that can be moved from "from" angle to "left_limit" and "right_limit".
static double from_degrees (double degrees)
static double normalize_angle (double angle)
normalize
static double normalize_angle_positive (double angle)
normalize_angle_positive
static double shortest_angular_distance (double from, double to)
shortest_angular_distance
static bool shortest_angular_distance_with_limits (double from, double to, double left_limit, double right_limit, double &shortest_angle)
Returns the delta from "from_angle" to "to_angle" making sure it does not violate limits specified by left_limit and right_limit. The valid interval of angular positions is [left_limit,right_limit]. E.g., [-0.25,0.25] is a 0.5 radians wide interval that contains 0. But [0.25,-0.25] is a 2*M_PI-0.5 wide interval that contains M_PI (but not 0). The value of shortest_angle is the angular difference between "from" and "to" that lies within the defined valid interval. E.g. shortest_angular_distance_with_limits(-0.5,0.5,0.25,-0.25,ss) evaluates ss to 2*M_PI-1.0 and returns true while shortest_angular_distance_with_limits(-0.5,0.5,-0.25,0.25,ss) returns false since -0.5 and 0.5 do not lie in the interval [-0.25,0.25].
static double two_pi_complement (double angle)
returns the angle in [-2*M_PI, 2*M_PI] going the other way along the unit circle.

## Function Documentation

 static bool angles::find_min_max_delta ( double from, double left_limit, double right_limit, double & result_min_delta, double & result_max_delta ) ` [static]`

This function is only intended for internal use and not intended for external use. If you do use it, read the documentation very carefully. Returns the min and max amount (in radians) that can be moved from "from" angle to "left_limit" and "right_limit".

Returns:
returns false if "from" angle does not lie in the interval [left_limit,right_limit]
Parameters:
 from - "from" angle - must lie in [-M_PI, M_PI) left_limit - left limit of valid interval for angular position - must lie in [-M_PI, M_PI], left and right limits are specified on the unit circle w.r.t to a reference pointing inwards right_limit - right limit of valid interval for angular position - must lie in [-M_PI, M_PI], left and right limits are specified on the unit circle w.r.t to a reference pointing inwards result_min_delta - minimum (delta) angle (in radians) that can be moved from "from" position before hitting the joint stop result_max_delta - maximum (delta) angle (in radians) that can be movedd from "from" position before hitting the joint stop

Definition at line 148 of file angles.h.

 static double angles::from_degrees ( double degrees ) ` [inline, static]`

Definition at line 49 of file angles.h.

 static double angles::normalize_angle ( double angle ) ` [inline, static]`

normalize

Normalizes the angle to be -M_PI circle to +M_PI circle It takes and returns radians.

Definition at line 82 of file angles.h.

 static double angles::normalize_angle_positive ( double angle ) ` [inline, static]`

normalize_angle_positive

Normalizes the angle to be 0 to 2*M_PI It takes and returns radians.

Definition at line 69 of file angles.h.

 static double angles::shortest_angular_distance ( double from, double to ) ` [inline, static]`

shortest_angular_distance

Given 2 angles, this returns the shortest angular difference. The inputs and ouputs are of course radians.

The result would always be -pi <= result <= pi. Adding the result to "from" will always get you an equivelent angle to "to".

Definition at line 103 of file angles.h.

 static bool angles::shortest_angular_distance_with_limits ( double from, double to, double left_limit, double right_limit, double & shortest_angle ) ` [inline, static]`

Returns the delta from "from_angle" to "to_angle" making sure it does not violate limits specified by left_limit and right_limit. The valid interval of angular positions is [left_limit,right_limit]. E.g., [-0.25,0.25] is a 0.5 radians wide interval that contains 0. But [0.25,-0.25] is a 2*M_PI-0.5 wide interval that contains M_PI (but not 0). The value of shortest_angle is the angular difference between "from" and "to" that lies within the defined valid interval. E.g. shortest_angular_distance_with_limits(-0.5,0.5,0.25,-0.25,ss) evaluates ss to 2*M_PI-1.0 and returns true while shortest_angular_distance_with_limits(-0.5,0.5,-0.25,0.25,ss) returns false since -0.5 and 0.5 do not lie in the interval [-0.25,0.25].

Returns:
true if "from" and "to" positions are within the limit interval, false otherwise
Parameters:
 from - "from" angle to - "to" angle left_limit - left limit of valid interval for angular position, left and right limits are specified on the unit circle w.r.t to a reference pointing inwards right_limit - right limit of valid interval for angular position, left and right limits are specified on the unit circle w.r.t to a reference pointing inwards shortest_angle - result of the shortest angle calculation

Definition at line 223 of file angles.h.

 static double angles::to_degrees ( double radians ) ` [inline, static]`

Definition at line 57 of file angles.h.

 static double angles::two_pi_complement ( double angle ) ` [inline, static]`

returns the angle in [-2*M_PI, 2*M_PI] going the other way along the unit circle.

Parameters:
 angle The angle to which you want to turn in the range [-2*M_PI, 2*M_PI] E.g. two_pi_complement(-M_PI/4) returns 7_M_PI/4 two_pi_complement(M_PI/4) returns -7*M_PI/4

Definition at line 124 of file angles.h.

angles
Author(s): John Hsu, Ioan Sucan
autogenerated on Thu Aug 22 2013 11:28:59