FHWS/Indoor
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many changes :P

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k-a-z-u
2016-01-21 20:01:20 +01:00
parent a7dc0cabbb
commit 12084fe147
29 changed files with 2900 additions and 144 deletions
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24
geo/Angle.h
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@@ -2,20 +2,34 @@
#define ANGLE_H
#include <cmath>
#include <KLib/Assertions.h>
class Angle {
public:
/** get the radians from (x1,y1) to (x2,y2) */
static float getRAD(const float x1, const float y1, const float x2, const float y2) {
/** 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)!!");
const float tmp = std::atan2(y2-y1, x2-x1);
return (tmp < 0) ? (tmp + 2*M_PI) : (tmp);
}
/** get the degrees from (x1,y1) to (x2,y2) */
static float getDEG(const float x1, const float y1, const float x2, const float y2) {
return radToDeg(getRAD(x1,y1,x2,y2));
/** get the degrees from (x1,y1) to (x2,y2) between 0 (to-the-right) and <360 */
static float getDEG_360(const float x1, const float y1, const float x2, const float y2) {
return radToDeg(getRAD_2PI(x1,y1,x2,y2));
}
/**
* gets the angular difference between
* - the given radians [0:2PI]
* - as a change-in-direction between [0:PI]
*/
static float getDiffRAD_2PI_PI(const float r1, const float r2) {
_assertBetween(r1, 0, 2*M_PI, "r1 out of bounds");
_assertBetween(r2, 0, 2*M_PI, "r2 out of bounds");
return fmod(std::abs(r2 - r1), M_PI);
}
/** convert degrees to radians */