Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Diff: Eurobot_shared/geometryfuncs/geometryfuncs.h
- Revision:
- 16:b3dd4e0b3100
- Parent:
- 15:acae5c0e9ca8
- Child:
- 17:bafcef1c3579
--- a/Eurobot_shared/geometryfuncs/geometryfuncs.h Sat Apr 28 22:21:03 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