trig_util.cpp
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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00009 //       notice, this list of conditions and the following disclaimer.
00010 //     * Redistributions in binary form must reproduce the above copyright
00011 //       notice, this list of conditions and the following disclaimer in the
00012 //       documentation and/or other materials provided with the distribution.
00013 //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
00016 //
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #include <swri_math_util/trig_util.h>
00031 
00032 #include <swri_math_util/constants.h>
00033 
00034 namespace swri_math_util
00035 {
00036   double WrapRadians(double angle, double center)
00037   {
00038     double wrapped = angle;
00039     while (wrapped < center && center - wrapped > _pi)
00040     {
00041       wrapped += _2pi;
00042     }
00043 
00044     while (wrapped > center && wrapped - center > _pi)
00045     {
00046       wrapped -= _2pi;
00047     }
00048 
00049     return wrapped;
00050   }
00051 
00052   double ToRadians(double degrees)
00053   {
00054     return degrees * _pi / 180.0;
00055   }
00056 
00057   double ToDegrees(double radians)
00058   {
00059     return radians * 180.0 / _pi;
00060   }
00061 }


swri_math_util
Author(s): Marc Alban
autogenerated on Tue Oct 3 2017 03:19:18