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src
lib
angle.cpp
Go to the documentation of this file.
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/*****************************************************************************
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** Includes
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*****************************************************************************/
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#include <cmath>
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#include "../../include/ecl/geometry/angle.hpp"
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#include <
ecl/math/constants.hpp
>
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/*****************************************************************************
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** Namespaces
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*****************************************************************************/
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namespace
ecl
{
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/*****************************************************************************
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** Implementation [Functions]
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*****************************************************************************/
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const
float
&
wrap_angle
(
float
&angle) {
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if
( ( angle <=
pi
) && ( angle >= -
pi
) ) {
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return
angle;
// nothing to do.
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}
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if
( angle < 0.0 ) {
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angle = fmodf(angle-
pi
,2.0*
pi
)+
pi
;
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}
else
{
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angle = fmodf(angle+
pi
,2.0*
pi
)-
pi
;
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}
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return
angle;
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}
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float
wrap_angle
(
const
float
&angle) {
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float
wrapped;
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if
( ( angle <=
pi
) && ( angle >= -
pi
) ) {
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wrapped = angle;
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}
else
if
( angle < 0.0 ) {
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wrapped = fmodf(angle-
pi
,2.0*
pi
)+
pi
;
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}
else
{
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wrapped = fmodf(angle+
pi
,2.0*
pi
)-
pi
;
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}
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return
wrapped;
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}
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const
double
&
wrap_angle
(
double
&angle) {
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if
( ( angle <=
pi
) && ( angle >= -
pi
) ) {
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return
angle;
// nothing to do.
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}
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if
( angle < 0.0 ) {
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angle = fmod(angle-
pi
,2.0*
pi
)+
pi
;
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}
else
{
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angle = fmod(angle+
pi
,2.0*
pi
)-
pi
;
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}
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return
angle;
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}
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double
wrap_angle
(
const
double
&angle) {
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double
wrapped;
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if
( ( angle <=
pi
) && ( angle >= -
pi
) ) {
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wrapped = angle;
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}
else
if
( angle < 0.0 ) {
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wrapped = fmod(angle-
pi
,2.0*
pi
)+
pi
;
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}
else
{
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wrapped = fmod(angle+
pi
,2.0*
pi
)-
pi
;
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}
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return
wrapped;
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}
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}
// namespace ecl
ecl
Embedded control libraries.
ecl::pi
double const pi
ecl::wrap_angle
ecl_geometry_PUBLIC const float & wrap_angle(float &angle)
Wrap the angle on -pi,pi (float types).
Definition:
angle.cpp:29
constants.hpp
ecl_geometry
Author(s): Daniel Stonier
autogenerated on Mon Jun 10 2019 13:08:37