FHWS/Indoor
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started removing KLib related code:

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- assertions
- distributions
new helper methods
worked on stairs
worked on grid-walkers
worked on navigation
This commit is contained in:
FrankE
2016-01-27 20:03:58 +01:00
parent e6329e1db4
commit 0e05f4bef8
26 changed files with 408 additions and 109 deletions
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8
geo/Angle.h
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@@ -2,7 +2,7 @@
#define ANGLE_H
#include <cmath>
#include <KLib/Assertions.h>
#include "../Assertions.h"
struct Angle {
@@ -11,7 +11,7 @@ public:
/** get the radians from (x1,y1) to (x2,y2) between 0 (to-the-right) and <2_PI */
static float getRAD_2PI(const float x1, const float y1, const float x2, const float y2) {
_assertFalse( (x1==x2)&&(y1==y2), "(x1,y1) must not equal (x2,y2)!!");
Assert::isFalse( (x1==x2)&&(y1==y2), "(x1,y1) must not equal (x2,y2)!!");
const float tmp = std::atan2(y2-y1, x2-x1);
return (tmp < 0) ? (tmp + 2*M_PI) : (tmp);
}
@@ -27,8 +27,8 @@ public:
* - as a change-in-direction between [0:PI]
*/
static float getDiffRAD_2PI_PI(const float r1, const float r2) {
_assertBetween(r1, 0, (float)(2*M_PI), "r1 out of bounds");
_assertBetween(r2, 0, (float)(2*M_PI), "r2 out of bounds");
Assert::isBetween(r1, 0.0f, (float)(2*M_PI), "r1 out of bounds");
Assert::isBetween(r2, 0.0f, (float)(2*M_PI), "r2 out of bounds");
float tmp = std::abs(r1-r2);
return (tmp <= M_PI) ? (tmp) : (2*M_PI-tmp);
}