FrankE
a2c9e575a2
- worked on about everything - grid walker using plugable modules - wifi models - new distributions - worked on geometric data-structures - added typesafe timestamps - worked on grid-building - added sensor-classes - added sensor analysis (step-detection, turn-detection) - offline data reader - many test-cases
75 lines
2.1 KiB
C++
Executable File
75 lines
2.1 KiB
C++
Executable File
#ifndef ANGLE_H
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#define ANGLE_H
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#include <cmath>
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#include "../Assertions.h"
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#include "Point2.h"
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struct Angle {
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public:
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/** get the radians from (x1,y1) to (x2,y2) between 0 (to-the-right) and <2_PI */
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static float getRAD_2PI(const float x1, const float y1, const float x2, const float y2) {
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Assert::isFalse( (x1==x2)&&(y1==y2), "(x1,y1) must not equal (x2,y2)!!");
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const float tmp = std::atan2(y2-y1, x2-x1);
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return (tmp < 0) ? (tmp + 2*M_PI) : (tmp);
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}
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/** get the radians from (0,0) to (p.x,p.y) between 0 (to-the-right) and <2_PI */
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static float getRAD_2PI(const Point2& p) {
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return getRAD_2PI(0, 0, p.x, p.y);
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}
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/** get the degrees from (x1,y1) to (x2,y2) between 0 (to-the-right) and <360 */
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static float getDEG_360(const float x1, const float y1, const float x2, const float y2) {
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return radToDeg(getRAD_2PI(x1,y1,x2,y2));
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}
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/**
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* gets the angular difference between
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* - the given radians [0:2PI]
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* - as a change-in-direction between [0:PI]
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*/
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static float getDiffRAD_2PI_PI(const float r1, const float r2) {
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Assert::isBetween(r1, 0.0f, (float)(2*M_PI), "r1 out of bounds");
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Assert::isBetween(r2, 0.0f, (float)(2*M_PI), "r2 out of bounds");
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float tmp = std::abs(r1-r2);
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return (tmp <= M_PI) ? (tmp) : (2*M_PI-tmp);
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}
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/**
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* gets the angular difference between
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* - the given radians [0:2PI]
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* - as a change-in-direction between [-PI:+PI]
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*/
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static float getSignedDiffRAD_2PI(const float r1, const float r2) {
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Assert::isBetween(r1, 0.0f, (float)(2*M_PI), "r1 out of bounds");
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Assert::isBetween(r2, 0.0f, (float)(2*M_PI), "r2 out of bounds");
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const float a1 = (r2-r1);
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if (std::abs(a1) < M_PI) {return a1;} else {return (M_PI-a1);}
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}
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/** convert degrees to radians */
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static constexpr float degToRad(const float deg) {
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return deg / 180.0f * M_PI;
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}
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/** convert radians to degrees */
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static float radToDeg(const float rad) {
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return rad * 180.0f / M_PI;
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}
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/** get a pointer vector (length 1) pointing to the given angle (in radians) */
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static Point2 getPointer(const float rad) {
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const float x = cos(rad);
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const float y = sin(rad);
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return Point2(x,y);
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}
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};
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#endif // ANGLE_H
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