Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of Eurobot_2012_Secondary by Shuto Naruse

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers geometryfuncs.h Source File

geometryfuncs.h

00001 #ifndef GEOMETRYFUNCS_H
00002 #define GEOMETRYFUNCS_H
00003 
00004 #include <tvmet/Matrix.h>
00005 
00006 template <typename T>
00007 Matrix <T, 2, 2> Rotmatrix(T theta) {
00008      Matrix <T, 2, 2> outmatrix;
00009      outmatrix = cos(theta), -sin(theta),
00010                  sin(theta), cos(theta);
00011      return outmatrix;
00012 }
00013 
00014 // rectifies angle to range -PI to PI
00015 template <typename T>
00016 T rectifyAng (T ang_in) {
00017     ang_in -= (floor(ang_in/(2*PI)))*2*PI;
00018     if (ang_in < -PI) {
00019         ang_in += 2*PI;
00020     }
00021     if (ang_in > PI) {
00022         ang_in -= 2*PI;
00023     }
00024 
00025     return ang_in;
00026 }
00027 
00028 #endif //GEOMETRYFUNCS_H
Generated on Tue Jul 12 2022 21:02:12 by  doxygen 1.7.2