Shuto Naruse
geometryfuncs for ICRS eurobot
Diff: geometryfuncs.h
- Revision:
- 0:886118d8488d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/geometryfuncs.h Thu Apr 26 19:34:16 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
\ No newline at end of file