Diff: Eurobot_shared/geometryfuncs/geometryfuncs.h

Revision:

23:1901cb6d0d95

Parent:

22:7ba09c0af0d0

Child:

24:7a3906c2f5d5

--- a/Eurobot_shared/geometryfuncs/geometryfuncs.h	Thu May 03 14:20:04 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +0,0 @@
-#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