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?
User | Revision | Line number | New 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 | } |