Diff: math_precalc.cpp

Revision:

1:0690cf83f060

Parent:

0:6ca63d45f0ee

Child:

2:5764f89a27f6

--- a/math_precalc.cpp	Tue Dec 11 19:12:55 2018 +0000
+++ b/math_precalc.cpp	Wed Dec 12 20:03:07 2018 +0000
@@ -28,6 +28,52 @@
 }
 
 double pow(long int a, long int b)
-{
+{	
 	return pow((double) a, (double) b);
-}
\ No newline at end of file
+}
+
+double abs(double a)
+{
+	if (a<0) {return -a;}
+	return a;
+}
+
+double diff_angle(double angle1, double angle2)
+{
+	// en degré
+	if (abs(angle2 - angle1) <= 180)
+	{
+		return angle2-angle1;
+	}
+	else if (angle2-angle1>0)
+	{
+		return (angle2-angle1)-360;
+	}
+	else
+	{
+		return 360+(angle2-angle1);
+	}
+}
+
+double borne_angle_r(double angle)
+{
+	if (angle > PI) {
+		angle -= 2*PI;
+	}
+	else if (angle <= -PI) {
+		angle += 2*PI;
+	}
+	return angle;
+}
+
+double borne_angle_d(double angle)
+{
+	if (angle > 180) {
+		angle -= 2*180;
+	}
+	else if (angle <= -180) {
+		angle += 2*180;
+	}
+	return angle;
+}
+