Shuto Naruse
Eurobot_2012_Secondary
geometryfuncs.h@0:fbfafa6bf5f9, 2012-04-20 (annotated)
- Committer:
- narshu
- Date:
- Fri Apr 20 21:32:24 2012 +0000
- Revision:
- 0:fbfafa6bf5f9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:fbfafa6bf5f9 | 1 | #ifndef GEOMETRYFUNCS_H |
| narshu | 0:fbfafa6bf5f9 | 2 | #define GEOMETRYFUNCS_H |
| narshu | 0:fbfafa6bf5f9 | 3 | |
| narshu | 0:fbfafa6bf5f9 | 4 | #include <tvmet/Matrix.h> |
| narshu | 0:fbfafa6bf5f9 | 5 | |
| narshu | 0:fbfafa6bf5f9 | 6 | template <typename T> |
| narshu | 0:fbfafa6bf5f9 | 7 | Matrix <T, 2, 2> Rotmatrix(T theta) { |
| narshu | 0:fbfafa6bf5f9 | 8 | Matrix <T, 2, 2> outmatrix; |
| narshu | 0:fbfafa6bf5f9 | 9 | outmatrix = cos(theta), -sin(theta), |
| narshu | 0:fbfafa6bf5f9 | 10 | sin(theta), cos(theta); |
| narshu | 0:fbfafa6bf5f9 | 11 | return outmatrix; |
| narshu | 0:fbfafa6bf5f9 | 12 | } |
| narshu | 0:fbfafa6bf5f9 | 13 | |
| narshu | 0:fbfafa6bf5f9 | 14 | // rectifies angle to range -PI to PI |
| narshu | 0:fbfafa6bf5f9 | 15 | template <typename T> |
| narshu | 0:fbfafa6bf5f9 | 16 | T rectifyAng (T ang_in) { |
| narshu | 0:fbfafa6bf5f9 | 17 | ang_in -= (floor(ang_in/(2*PI)))*2*PI; |
| narshu | 0:fbfafa6bf5f9 | 18 | if (ang_in < -PI) { |
| narshu | 0:fbfafa6bf5f9 | 19 | ang_in += 2*PI; |
| narshu | 0:fbfafa6bf5f9 | 20 | } |
| narshu | 0:fbfafa6bf5f9 | 21 | if (ang_in > PI) { |
| narshu | 0:fbfafa6bf5f9 | 22 | ang_in -= 2*PI; |
| narshu | 0:fbfafa6bf5f9 | 23 | } |
| narshu | 0:fbfafa6bf5f9 | 24 | |
| narshu | 0:fbfafa6bf5f9 | 25 | return ang_in; |
| narshu | 0:fbfafa6bf5f9 | 26 | } |
| narshu | 0:fbfafa6bf5f9 | 27 | |
| narshu | 0:fbfafa6bf5f9 | 28 | #endif //GEOMETRYFUNCS_H |