Shuto Naruse / Eurobot_2012_shared

Eurobot_shared pubulished from Eurobot Primary

Diff: geometryfuncs/geometryfuncs.h

Revision:
0:434fd09723be
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometryfuncs/geometryfuncs.h	Tue Aug 07 10:25:53 2012 +0000
@@ -0,0 +1,28 @@
+#ifndef GEOMETRYFUNCS_H
+#define GEOMETRYFUNCS_H
+
+#include <tvmet/Matrix.h>
+
+template <typename T>
+Matrix <T, 2, 2> Rotmatrix(T theta) {
+     Matrix <T, 2, 2> outmatrix;
+     outmatrix = cos(theta), -sin(theta),
+                 sin(theta), cos(theta);
+     return outmatrix;
+}
+
+// rectifies angle to range -PI to PI
+template <typename T>
+T rectifyAng (T ang_in) {
+    ang_in -= (floor(ang_in/(2*PI)))*2*PI;
+    if (ang_in < -PI) {
+        ang_in += 2*PI;
+    }
+    if (ang_in > PI) {
+        ang_in -= 2*PI;
+    }
+
+    return ang_in;
+}
+
+#endif //GEOMETRYFUNCS_H
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