AngleFunctions.hpp

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// ========================================================================================
//  ApproxMVBB
//  Copyright (C) 2014 by Gabriel Nützi <nuetzig (at) imes (d0t) mavt (d0t) ethz (døt) ch>
//
//  This Source Code Form is subject to the terms of the Mozilla Public
//  License, v. 2.0. If a copy of the MPL was not distributed with this
//  file, You can obtain one at http://mozilla.org/MPL/2.0/.
// ========================================================================================

#ifndef ApproxMVBB_AngleFunctions_hpp
#define ApproxMVBB_AngleFunctions_hpp

#include <cmath>
#include "ApproxMVBB/Config/Config.hpp"
#include ApproxMVBB_TypeDefs_INCLUDE_FILE
namespace ApproxMVBB{
namespace AngleFunctions {

    ApproxMVBB_DEFINE_MATRIX_TYPES

    inline PREC mapToPi(PREC x) {
        return   x -  std::floor( x/(2.0*M_PI) + 0.5 ) * M_PI * 2.0;
    }

    inline PREC mapTo2Pi(PREC x) {
        return   x -  std::floor( x/(2.0*M_PI)) * M_PI * 2.0;
    }

    inline PREC relativeAnglePi(PREC angle, PREC angle2) {
        return mapToPi(angle2-angle);
    }
    inline PREC relativeAngle2Pi(PREC angle, PREC angle2) {
        return mapTo2Pi(angle2-angle);
    }

}
}
#endif // AngleFunctions_hpp