FHWS/Indoor
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added several grid-walks

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added new helper methods/classes (e.g. for heading)
new test cases
optimize the dijkstra
cleanups/refactoring
added timed-benchmarks to the log
many more...
This commit is contained in:
FrankE
2016-01-24 18:59:06 +01:00
parent cdf97322f8
commit 9947dced15
30 changed files with 1406 additions and 94 deletions
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10
geo/Angle.h
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@@ -4,7 +4,8 @@
#include <cmath>
#include <KLib/Assertions.h>
class Angle {
struct Angle {
public:
@@ -28,12 +29,15 @@ public:
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);
float tmp = std::abs(r1-r2);
return (tmp <= M_PI) ? (tmp) : (2*M_PI-tmp);
//float tmp2 = fmod(tmp, M_PI);
//return fmod(std::abs(r2 - r1), M_PI);
}
/** convert degrees to radians */
static float degToRad(const float deg) {
static constexpr float degToRad(const float deg) {
return deg / 180 * M_PI;
}