remi cormier / Trigo

Trigonomectric constants Polar and spherical to rectangular coordinates transform

Dependents:   DISCO-F746NG_Lidar ZAILLEL_Interface

Trigo.cpp@1:eb028056d162, 2012-11-25 (annotated)

Committer:
cromda
Date:
Sun Nov 25 11:35:18 2012 +0000
Revision:
1:eb028056d162
Parent:
0:2f533ad7c611
Child:
4:a6b0fd2c4f85
Documented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cromda 0:2f533ad7c611 1 #include "mbed.h"
cromda 0:2f533ad7c611 2 #include "Trigo.h"
cromda 0:2f533ad7c611 3
cromda 1:eb028056d162 4 // Trigo Library
cromda 1:eb028056d162 5 // trogonometric constants and utilities
cromda 1:eb028056d162 6 // rémi cormier 2012
cromda 1:eb028056d162 7
cromda 0:2f533ad7c611 8 void RecPol(float x, float y, float *r, float *a)
cromda 0:2f533ad7c611 9 {*r=sqrt(x*x+y*y);
cromda 0:2f533ad7c611 10 if (x==0.0)
cromda 0:2f533ad7c611 11 {if (y==0.0)
cromda 0:2f533ad7c611 12 {*a=0.0;}
cromda 0:2f533ad7c611 13 else
cromda 0:2f533ad7c611 14 {if (y>=0.0)
cromda 1:eb028056d162 15 {*a=halfPi;}
cromda 0:2f533ad7c611 16 else
cromda 1:eb028056d162 17 {*a=-halfPi;}}}
cromda 0:2f533ad7c611 18 else
cromda 0:2f533ad7c611 19 {*a=atan(y/x);
cromda 0:2f533ad7c611 20 if(x<0)
cromda 0:2f533ad7c611 21 {*a=Pi+*a;}
cromda 0:2f533ad7c611 22 if (*a>Pi)
cromda 1:eb028056d162 23 {*a=*a-twoPi;}
cromda 0:2f533ad7c611 24 }
cromda 0:2f533ad7c611 25 }
cromda 0:2f533ad7c611 26
cromda 0:2f533ad7c611 27 void PolRec(float r, float a, float *x, float *y)
cromda 0:2f533ad7c611 28 {*x=r*cos(a);
cromda 0:2f533ad7c611 29 *y=r*sin(a);
cromda 0:2f533ad7c611 30 }
cromda 0:2f533ad7c611 31
cromda 0:2f533ad7c611 32 void RecSph(float x, float y, float z, float *r, float *a, float *b)
cromda 0:2f533ad7c611 33 {RecPol(x,y,b,a);
cromda 0:2f533ad7c611 34 RecPol(*b,z,r,b);
cromda 0:2f533ad7c611 35 }
cromda 0:2f533ad7c611 36
cromda 0:2f533ad7c611 37 void SphRec(float r, float a, float b, float *x, float *y, float *z)
cromda 0:2f533ad7c611 38 {PolRec(r,b,x,z);
cromda 0:2f533ad7c611 39 PolRec(*x,a,x,y);
cromda 0:2f533ad7c611 40 }