This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of autonomousRobotAndroid by
RobotControl/RobotControl.cpp@5:48a258f6335e, 2013-03-21 (annotated)
- Committer:
- chrigelburri
- Date:
- Thu Mar 21 08:56:53 2013 +0000
- Revision:
- 5:48a258f6335e
- Parent:
- 3:92ba0254af87
- Child:
- 6:48eeb41188dd
vor dem Gr?nden m?nd?li;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 0:31f7be68e52d | 1 | #include "RobotControl.h" |
chrigelburri | 0:31f7be68e52d | 2 | |
chrigelburri | 0:31f7be68e52d | 3 | using namespace std; |
chrigelburri | 0:31f7be68e52d | 4 | |
chrigelburri | 1:6cd533a712c6 | 5 | RobotControl::RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period) : Task(period) |
chrigelburri | 0:31f7be68e52d | 6 | { |
chrigelburri | 0:31f7be68e52d | 7 | /* get peripherals */ |
chrigelburri | 0:31f7be68e52d | 8 | this->motorControllerLeft = motorControllerLeft; |
chrigelburri | 0:31f7be68e52d | 9 | this->motorControllerRight = motorControllerRight; |
chrigelburri | 1:6cd533a712c6 | 10 | // this->compass = compass; |
chrigelburri | 0:31f7be68e52d | 11 | this->period = period; |
chrigelburri | 0:31f7be68e52d | 12 | |
chrigelburri | 0:31f7be68e52d | 13 | /* initialize peripherals */ |
chrigelburri | 0:31f7be68e52d | 14 | motorControllerLeft->enable(false); |
chrigelburri | 0:31f7be68e52d | 15 | motorControllerRight->enable(false); |
chrigelburri | 0:31f7be68e52d | 16 | |
chrigelburri | 0:31f7be68e52d | 17 | /* initialize remaining state values */ |
chrigelburri | 0:31f7be68e52d | 18 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 19 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 20 | |
chrigelburri | 0:31f7be68e52d | 21 | motorControllerLeft->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 22 | motorControllerRight->setPulses(0); |
chrigelburri | 0:31f7be68e52d | 23 | |
chrigelburri | 0:31f7be68e52d | 24 | Desired.setAcceleration(ACCELERATION); |
chrigelburri | 0:31f7be68e52d | 25 | Desired.setThetaAcceleration(THETA_ACCELERATION); |
chrigelburri | 0:31f7be68e52d | 26 | } |
chrigelburri | 0:31f7be68e52d | 27 | |
chrigelburri | 1:6cd533a712c6 | 28 | RobotControl::~RobotControl() |
chrigelburri | 0:31f7be68e52d | 29 | { |
chrigelburri | 0:31f7be68e52d | 30 | |
chrigelburri | 0:31f7be68e52d | 31 | } |
chrigelburri | 0:31f7be68e52d | 32 | |
chrigelburri | 0:31f7be68e52d | 33 | void RobotControl::setEnable(bool enable) |
chrigelburri | 0:31f7be68e52d | 34 | { |
chrigelburri | 0:31f7be68e52d | 35 | motorControllerLeft->enable(enable); |
chrigelburri | 0:31f7be68e52d | 36 | motorControllerRight->enable(enable); |
chrigelburri | 0:31f7be68e52d | 37 | } |
chrigelburri | 0:31f7be68e52d | 38 | |
chrigelburri | 0:31f7be68e52d | 39 | bool RobotControl::isEnabled() |
chrigelburri | 0:31f7be68e52d | 40 | { |
chrigelburri | 0:31f7be68e52d | 41 | return (motorControllerLeft->isEnabled() && motorControllerRight->isEnabled()); |
chrigelburri | 0:31f7be68e52d | 42 | } |
chrigelburri | 0:31f7be68e52d | 43 | |
chrigelburri | 1:6cd533a712c6 | 44 | void RobotControl::setAcceleration(float acceleration) |
chrigelburri | 0:31f7be68e52d | 45 | { |
chrigelburri | 1:6cd533a712c6 | 46 | Desired.setAcceleration(acceleration); |
chrigelburri | 0:31f7be68e52d | 47 | } |
chrigelburri | 0:31f7be68e52d | 48 | |
chrigelburri | 1:6cd533a712c6 | 49 | void RobotControl::setThetaAcceleration(float acceleration) |
chrigelburri | 0:31f7be68e52d | 50 | { |
chrigelburri | 1:6cd533a712c6 | 51 | Desired.setThetaAcceleration(acceleration); |
chrigelburri | 0:31f7be68e52d | 52 | } |
chrigelburri | 0:31f7be68e52d | 53 | |
chrigelburri | 0:31f7be68e52d | 54 | void RobotControl::setDesiredSpeed(float speed) |
chrigelburri | 0:31f7be68e52d | 55 | { |
chrigelburri | 0:31f7be68e52d | 56 | this->speed = speed; |
chrigelburri | 0:31f7be68e52d | 57 | } |
chrigelburri | 0:31f7be68e52d | 58 | |
chrigelburri | 0:31f7be68e52d | 59 | void RobotControl::setDesiredOmega(float omega) |
chrigelburri | 0:31f7be68e52d | 60 | { |
chrigelburri | 0:31f7be68e52d | 61 | this->omega = omega; |
chrigelburri | 0:31f7be68e52d | 62 | } |
chrigelburri | 0:31f7be68e52d | 63 | |
chrigelburri | 5:48a258f6335e | 64 | void RobotControl::setDesiredxPosition(float xposition) |
chrigelburri | 0:31f7be68e52d | 65 | { |
chrigelburri | 1:6cd533a712c6 | 66 | Desired.xposition = xposition; |
chrigelburri | 0:31f7be68e52d | 67 | } |
chrigelburri | 0:31f7be68e52d | 68 | |
chrigelburri | 5:48a258f6335e | 69 | void RobotControl::setDesiredyPosition(float yposition) |
chrigelburri | 0:31f7be68e52d | 70 | { |
chrigelburri | 1:6cd533a712c6 | 71 | Desired.yposition = yposition; |
chrigelburri | 0:31f7be68e52d | 72 | } |
chrigelburri | 0:31f7be68e52d | 73 | |
chrigelburri | 5:48a258f6335e | 74 | void RobotControl::setDesiredTheta(float theta) |
chrigelburri | 0:31f7be68e52d | 75 | { |
chrigelburri | 0:31f7be68e52d | 76 | Desired.theta = theta; |
chrigelburri | 0:31f7be68e52d | 77 | } |
chrigelburri | 0:31f7be68e52d | 78 | |
chrigelburri | 5:48a258f6335e | 79 | float RobotControl::getDesiredxPosition() |
chrigelburri | 5:48a258f6335e | 80 | { |
chrigelburri | 5:48a258f6335e | 81 | return Desired.xposition; |
chrigelburri | 5:48a258f6335e | 82 | } |
chrigelburri | 5:48a258f6335e | 83 | |
chrigelburri | 5:48a258f6335e | 84 | float RobotControl::getDesiredyPosition() |
chrigelburri | 2:d8e1613dc38b | 85 | { |
chrigelburri | 5:48a258f6335e | 86 | return Desired.yposition; |
chrigelburri | 5:48a258f6335e | 87 | } |
chrigelburri | 5:48a258f6335e | 88 | |
chrigelburri | 5:48a258f6335e | 89 | float RobotControl::getDesiredTheta() |
chrigelburri | 5:48a258f6335e | 90 | { |
chrigelburri | 5:48a258f6335e | 91 | return Desired.theta; |
chrigelburri | 5:48a258f6335e | 92 | } |
chrigelburri | 5:48a258f6335e | 93 | |
chrigelburri | 5:48a258f6335e | 94 | void RobotControl::setDesiredPositionAndAngle(float xposition, float yposition, float theta) |
chrigelburri | 5:48a258f6335e | 95 | { |
chrigelburri | 5:48a258f6335e | 96 | setDesiredxPosition(xposition); |
chrigelburri | 5:48a258f6335e | 97 | setDesiredyPosition(yposition); |
chrigelburri | 5:48a258f6335e | 98 | setDesiredTheta(theta); |
chrigelburri | 2:d8e1613dc38b | 99 | } |
chrigelburri | 2:d8e1613dc38b | 100 | |
chrigelburri | 1:6cd533a712c6 | 101 | float RobotControl::getTheta() |
chrigelburri | 1:6cd533a712c6 | 102 | { |
chrigelburri | 1:6cd533a712c6 | 103 | return Desired.theta; |
chrigelburri | 1:6cd533a712c6 | 104 | } |
chrigelburri | 1:6cd533a712c6 | 105 | |
chrigelburri | 0:31f7be68e52d | 106 | float RobotControl::getDesiredSpeed() |
chrigelburri | 0:31f7be68e52d | 107 | { |
chrigelburri | 0:31f7be68e52d | 108 | return speed; |
chrigelburri | 0:31f7be68e52d | 109 | } |
chrigelburri | 0:31f7be68e52d | 110 | |
chrigelburri | 0:31f7be68e52d | 111 | float RobotControl::getActualSpeed() |
chrigelburri | 0:31f7be68e52d | 112 | { |
chrigelburri | 0:31f7be68e52d | 113 | return Actual.speed; |
chrigelburri | 0:31f7be68e52d | 114 | } |
chrigelburri | 0:31f7be68e52d | 115 | |
chrigelburri | 0:31f7be68e52d | 116 | float RobotControl::getDesiredOmega() |
chrigelburri | 0:31f7be68e52d | 117 | { |
chrigelburri | 0:31f7be68e52d | 118 | return omega; |
chrigelburri | 0:31f7be68e52d | 119 | } |
chrigelburri | 0:31f7be68e52d | 120 | |
chrigelburri | 0:31f7be68e52d | 121 | float RobotControl::getActualOmega() |
chrigelburri | 0:31f7be68e52d | 122 | { |
chrigelburri | 0:31f7be68e52d | 123 | return Actual.omega; |
chrigelburri | 0:31f7be68e52d | 124 | } |
chrigelburri | 0:31f7be68e52d | 125 | |
chrigelburri | 0:31f7be68e52d | 126 | float RobotControl::getxActualPosition() |
chrigelburri | 0:31f7be68e52d | 127 | { |
chrigelburri | 0:31f7be68e52d | 128 | return Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 129 | } |
chrigelburri | 0:31f7be68e52d | 130 | |
chrigelburri | 0:31f7be68e52d | 131 | float RobotControl::getxPositionError() |
chrigelburri | 0:31f7be68e52d | 132 | { |
chrigelburri | 0:31f7be68e52d | 133 | return Desired.getxPosition()-Actual.getxPosition(); |
chrigelburri | 0:31f7be68e52d | 134 | } |
chrigelburri | 0:31f7be68e52d | 135 | |
chrigelburri | 0:31f7be68e52d | 136 | float RobotControl::getyActualPosition() |
chrigelburri | 0:31f7be68e52d | 137 | { |
chrigelburri | 0:31f7be68e52d | 138 | return Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 139 | } |
chrigelburri | 0:31f7be68e52d | 140 | |
chrigelburri | 0:31f7be68e52d | 141 | float RobotControl::getyPositionError() |
chrigelburri | 0:31f7be68e52d | 142 | { |
chrigelburri | 0:31f7be68e52d | 143 | return Desired.getyPosition()-Actual.getyPosition(); |
chrigelburri | 0:31f7be68e52d | 144 | } |
chrigelburri | 0:31f7be68e52d | 145 | |
chrigelburri | 0:31f7be68e52d | 146 | float RobotControl::getActualTheta() |
chrigelburri | 0:31f7be68e52d | 147 | { |
chrigelburri | 0:31f7be68e52d | 148 | return Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 149 | } |
chrigelburri | 0:31f7be68e52d | 150 | |
chrigelburri | 0:31f7be68e52d | 151 | float RobotControl::getThetaError() |
chrigelburri | 0:31f7be68e52d | 152 | { |
chrigelburri | 0:31f7be68e52d | 153 | return Desired.getTheta()-Actual.getTheta(); |
chrigelburri | 0:31f7be68e52d | 154 | } |
chrigelburri | 0:31f7be68e52d | 155 | |
chrigelburri | 1:6cd533a712c6 | 156 | float RobotControl::getDistanceError() |
chrigelburri | 1:6cd533a712c6 | 157 | { |
chrigelburri | 1:6cd533a712c6 | 158 | return sqrt( ( getxPositionError() * getxPositionError() ) + (getyPositionError() * getyPositionError() ) ); |
chrigelburri | 1:6cd533a712c6 | 159 | } |
chrigelburri | 1:6cd533a712c6 | 160 | |
chrigelburri | 1:6cd533a712c6 | 161 | float RobotControl::getThetaErrorToGoal() |
chrigelburri | 0:31f7be68e52d | 162 | { |
chrigelburri | 3:92ba0254af87 | 163 | return PiRange(atan2(getyPositionError(),getxPositionError()) - getActualTheta()); |
chrigelburri | 3:92ba0254af87 | 164 | /*float temp; |
chrigelburri | 2:d8e1613dc38b | 165 | temp = atan2(getyPositionError(),getxPositionError()) - getActualTheta(); |
chrigelburri | 2:d8e1613dc38b | 166 | |
chrigelburri | 2:d8e1613dc38b | 167 | if(temp <= -PI) { |
chrigelburri | 2:d8e1613dc38b | 168 | temp += 2* PI; |
chrigelburri | 2:d8e1613dc38b | 169 | } else if (temp > PI) { |
chrigelburri | 2:d8e1613dc38b | 170 | temp -= 2* PI; |
chrigelburri | 2:d8e1613dc38b | 171 | } else { |
chrigelburri | 2:d8e1613dc38b | 172 | //nothing |
chrigelburri | 2:d8e1613dc38b | 173 | } |
chrigelburri | 3:92ba0254af87 | 174 | return temp;*/ |
chrigelburri | 1:6cd533a712c6 | 175 | } |
chrigelburri | 1:6cd533a712c6 | 176 | |
chrigelburri | 1:6cd533a712c6 | 177 | float RobotControl::getThetaGoal() |
chrigelburri | 1:6cd533a712c6 | 178 | { |
chrigelburri | 3:92ba0254af87 | 179 | return PiRange(atan2(getyPositionError(),getxPositionError()) - getTheta()); |
chrigelburri | 2:d8e1613dc38b | 180 | |
chrigelburri | 3:92ba0254af87 | 181 | /* |
chrigelburri | 2:d8e1613dc38b | 182 | if(temp <= -PI) { |
chrigelburri | 2:d8e1613dc38b | 183 | temp += 2* PI; |
chrigelburri | 2:d8e1613dc38b | 184 | } else if (temp > PI) { |
chrigelburri | 2:d8e1613dc38b | 185 | temp -= 2* PI; |
chrigelburri | 2:d8e1613dc38b | 186 | } else { |
chrigelburri | 2:d8e1613dc38b | 187 | //nothing |
chrigelburri | 2:d8e1613dc38b | 188 | } |
chrigelburri | 3:92ba0254af87 | 189 | return temp;*/ |
chrigelburri | 1:6cd533a712c6 | 190 | } |
chrigelburri | 1:6cd533a712c6 | 191 | |
chrigelburri | 1:6cd533a712c6 | 192 | void RobotControl::setAllToZero(float xZeroPos, float yZeroPos, float theta) |
chrigelburri | 1:6cd533a712c6 | 193 | { |
chrigelburri | 1:6cd533a712c6 | 194 | Actual.setState(xZeroPos, yZeroPos, theta, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 195 | Desired.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 196 | stateLeft.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 197 | stateRight.setState(0.0f, 0.0f, 0.0f, 0.0f, 0.0f); |
chrigelburri | 0:31f7be68e52d | 198 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 199 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 200 | } |
chrigelburri | 0:31f7be68e52d | 201 | |
chrigelburri | 0:31f7be68e52d | 202 | void RobotControl::run() |
chrigelburri | 0:31f7be68e52d | 203 | { |
chrigelburri | 1:6cd533a712c6 | 204 | ///// DAs kan glaub raus ab hier |
chrigelburri | 2:d8e1613dc38b | 205 | /////////////////////////////////////////////////////////7 |
chrigelburri | 0:31f7be68e52d | 206 | /* motion planning */ |
chrigelburri | 0:31f7be68e52d | 207 | if (isEnabled()) { |
chrigelburri | 1:6cd533a712c6 | 208 | ///// DAs kan glaub raus bis hier |
chrigelburri | 0:31f7be68e52d | 209 | Desired.increment(speed, omega, period); |
chrigelburri | 1:6cd533a712c6 | 210 | |
chrigelburri | 2:d8e1613dc38b | 211 | ///// DAs kan glaub raus bis hier |
chrigelburri | 1:6cd533a712c6 | 212 | |
chrigelburri | 0:31f7be68e52d | 213 | } else { |
chrigelburri | 0:31f7be68e52d | 214 | speed = 0.0f; |
chrigelburri | 0:31f7be68e52d | 215 | omega = 0.0f; |
chrigelburri | 0:31f7be68e52d | 216 | Desired.setState(&Actual); |
chrigelburri | 0:31f7be68e52d | 217 | } |
chrigelburri | 0:31f7be68e52d | 218 | |
chrigelburri | 0:31f7be68e52d | 219 | /* position calculation */ |
chrigelburri | 0:31f7be68e52d | 220 | |
chrigelburri | 0:31f7be68e52d | 221 | /* Set the state of speed from Left und Right Wheel*/ |
chrigelburri | 1:6cd533a712c6 | 222 | stateLeft.speed = motorControllerLeft->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI * GEAR; |
chrigelburri | 1:6cd533a712c6 | 223 | stateRight.speed = - motorControllerRight->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI * GEAR; |
chrigelburri | 0:31f7be68e52d | 224 | |
chrigelburri | 0:31f7be68e52d | 225 | /* translational speed of the Robot (average) */ |
chrigelburri | 0:31f7be68e52d | 226 | Actual.speed = ( stateRight.speed + stateLeft.speed ) / 2.0f; |
chrigelburri | 0:31f7be68e52d | 227 | |
chrigelburri | 0:31f7be68e52d | 228 | /* rotational speed of the Robot */ |
chrigelburri | 0:31f7be68e52d | 229 | Actual.omega = ( stateRight.speed - stateLeft.speed ) / WHEEL_DISTANCE; |
chrigelburri | 0:31f7be68e52d | 230 | |
chrigelburri | 1:6cd533a712c6 | 231 | /* rotational theta of the Robot integrate the omega with the time*/ |
chrigelburri | 0:31f7be68e52d | 232 | Actual.theta += Actual.omega * period; |
chrigelburri | 3:92ba0254af87 | 233 | Actual.theta = PiRange(Actual.theta); |
chrigelburri | 3:92ba0254af87 | 234 | /* |
chrigelburri | 3:92ba0254af87 | 235 | if(Actual.theta <= -PI) { |
chrigelburri | 3:92ba0254af87 | 236 | Actual.theta += 2* PI; |
chrigelburri | 3:92ba0254af87 | 237 | } else if (Actual.theta > PI) { |
chrigelburri | 3:92ba0254af87 | 238 | Actual.theta -= 2* PI; |
chrigelburri | 3:92ba0254af87 | 239 | } else { |
chrigelburri | 3:92ba0254af87 | 240 | //nothing |
chrigelburri | 3:92ba0254af87 | 241 | } |
chrigelburri | 3:92ba0254af87 | 242 | */ |
chrigelburri | 1:6cd533a712c6 | 243 | /* translational X and Y Position. integrate the speed with the time */ |
chrigelburri | 1:6cd533a712c6 | 244 | Actual.xposition += (Actual.speed * period * cos(Actual.theta)); |
chrigelburri | 1:6cd533a712c6 | 245 | Actual.yposition += (Actual.speed * period * sin(Actual.theta)); |
chrigelburri | 0:31f7be68e52d | 246 | |
chrigelburri | 1:6cd533a712c6 | 247 | // Actual.thetaCompass = compass->getFilteredAngle(); |
chrigelburri | 1:6cd533a712c6 | 248 | /* translational X and Y Position. integrate the speed with the time theta from compass */ |
chrigelburri | 1:6cd533a712c6 | 249 | // Actual.xposition += - (Actual.speed * period * cos(Actual.thetaCompass)); |
chrigelburri | 1:6cd533a712c6 | 250 | // Actual.yposition += (Actual.speed * period * sin(Actual.thetaCompass)); |
chrigelburri | 2:d8e1613dc38b | 251 | |
chrigelburri | 1:6cd533a712c6 | 252 | /* motor control */ |
chrigelburri | 1:6cd533a712c6 | 253 | if ( isEnabled() && ( getDistanceError() >= MIN_DISTANCE_ERROR ) ) { |
chrigelburri | 0:31f7be68e52d | 254 | |
chrigelburri | 1:6cd533a712c6 | 255 | /* postition control */ |
chrigelburri | 2:d8e1613dc38b | 256 | |
chrigelburri | 1:6cd533a712c6 | 257 | speed = K1 * getDistanceError() * cos( getThetaErrorToGoal() ); |
chrigelburri | 2:d8e1613dc38b | 258 | omega = K2 * getThetaErrorToGoal() + |
chrigelburri | 2:d8e1613dc38b | 259 | K1 * ( ( sin(getThetaErrorToGoal()) * cos(getThetaErrorToGoal()) ) / (getThetaErrorToGoal()) ) * ( getThetaErrorToGoal() + K3 * getThetaGoal() ); |
chrigelburri | 0:31f7be68e52d | 260 | |
chrigelburri | 5:48a258f6335e | 261 | motorControllerLeft->setVelocity( ( ( (2 * speed) - (WHEEL_DISTANCE * omega) ) / 2 ) / (2 * WHEEL_RADIUS * PI * GEAR) ); |
chrigelburri | 5:48a258f6335e | 262 | motorControllerRight->setVelocity(-( ( (2 * speed) + (WHEEL_DISTANCE * omega) ) / 2) / (2 * WHEEL_RADIUS * PI * GEAR) ); |
chrigelburri | 0:31f7be68e52d | 263 | |
chrigelburri | 0:31f7be68e52d | 264 | } else { |
chrigelburri | 0:31f7be68e52d | 265 | |
chrigelburri | 0:31f7be68e52d | 266 | motorControllerLeft->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 267 | motorControllerRight->setVelocity(0.0f); |
chrigelburri | 0:31f7be68e52d | 268 | |
chrigelburri | 1:6cd533a712c6 | 269 | } |
chrigelburri | 0:31f7be68e52d | 270 | } |
chrigelburri | 3:92ba0254af87 | 271 | |
chrigelburri | 3:92ba0254af87 | 272 | float RobotControl::PiRange(float theta) |
chrigelburri | 3:92ba0254af87 | 273 | { |
chrigelburri | 3:92ba0254af87 | 274 | if(theta <= -PI) { |
chrigelburri | 3:92ba0254af87 | 275 | return theta += 2*PI; |
chrigelburri | 3:92ba0254af87 | 276 | } else if (theta > PI) { |
chrigelburri | 3:92ba0254af87 | 277 | return theta -= 2*PI; |
chrigelburri | 3:92ba0254af87 | 278 | } else { |
chrigelburri | 3:92ba0254af87 | 279 | return theta; |
chrigelburri | 3:92ba0254af87 | 280 | } |
chrigelburri | 3:92ba0254af87 | 281 | } |
chrigelburri | 3:92ba0254af87 | 282 |