Cooper Liu
/
Eurobot2013_Co-Processor
working version with calibration done
Fork of Eurobot2013 by
geometryfuncs/geometryfuncs.h
- Committer:
- xiaxia686
- Date:
- 2013-04-07
- Revision:
- 10:2bd9f4e02b74
- Parent:
- system/geometryfuncs.h@ 6:5a52c046d8f7
File content as of revision 10:2bd9f4e02b74:
#ifndef GEOMETRYFUNCS_H #define GEOMETRYFUNCS_H // 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