Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

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Show/hide line numbers geometryfuncs.h Source File

geometryfuncs.h

00001 #ifndef GEOMETRYFUNCS_H
00002 #define GEOMETRYFUNCS_H
00003 
00004 // rectifies angle to range -PI to PI
00005 template <typename T>
00006 T rectifyAng (T ang_in) {
00007     ang_in -= (floor(ang_in/(2*PI)))*2*PI;
00008     if (ang_in < -PI) {
00009         ang_in += 2*PI;
00010     }
00011     if (ang_in > PI) {
00012         ang_in -= 2*PI;
00013     }
00014 
00015     return ang_in;
00016 }
00017 
00018 #endif //GEOMETRYFUNCS_H
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