Shuto Naruse
Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Diff: geometryfuncs.h
- Revision:
- 2:cffa347bb943
- Parent:
- 1:bbabbd997d21
- Child:
- 3:429829612cf9
--- a/geometryfuncs.h Fri Apr 20 21:56:15 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