Template Function mrpt::math::angDistance

Defined in File wrap2pi.h

Function Documentation

template<class T> T mrpt::math::angDistance(T from, T to)

Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g. near +-pi) Examples: angDistance(0,pi) -> +pi; angDistance(pi,0) -> -pi; angDistance(-3.1,3.1) -> -0.08; angDistance(3.1,-3.1) -> +0.08;