Ruprecht Altenburger / Misc_Lib

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Show/hide line numbers Unwrapper_2pi.cpp Source File

Unwrapper_2pi.cpp

00001 /*  
00002 */
00003 
00004 #include "Unwrapper_2pi.h"
00005 #define   pi 3.141592653589793
00006 using namespace std;
00007 
00008 Unwrapper_2pi::Unwrapper_2pi(void)
00009 {   
00010     last_value = 0.0;
00011     turns = 0;
00012 }
00013 
00014 Unwrapper_2pi::~Unwrapper_2pi() {}
00015 
00016 void Unwrapper_2pi::reset(void)
00017 {
00018     last_value = 0.0;
00019     turns = 0;
00020 }
00021 
00022 float Unwrapper_2pi::doStep(float in)
00023 {
00024     float temp = in + 2*pi*(float)turns;
00025     if((temp - last_value) > pi){
00026         temp -= 2*pi;
00027         turns--;
00028         }
00029     else if((temp - last_value) < -pi){
00030         temp += 2*pi;
00031         turns++;
00032         }
00033     last_value = temp;
00034     return (temp);
00035 }
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