X-lanni
79 lines
1.9 KiB
C++
79 lines
1.9 KiB
C++
/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
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* gerkey@usc.edu kaspers@robotics.usc.edu
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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*/
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#ifndef NAV2_AMCL__ANGLEUTILS_HPP_
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#define NAV2_AMCL__ANGLEUTILS_HPP_
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#include <math.h>
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namespace nav2_amcl
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{
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/*
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* @class angleutils
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* @brief Some utilities for working with angles
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*/
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class angleutils
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{
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public:
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/*
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* @brief Normalize angles
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* @brief z Angle to normalize
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* @return normalized angle
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*/
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static double normalize(double z);
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/*
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* @brief Find minimum distance between 2 angles
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* @brief a Angle 1
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* @brief b Angle 2
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* @return normalized angle difference
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*/
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static double angle_diff(double a, double b);
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};
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inline double
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angleutils::normalize(double z)
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{
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return atan2(sin(z), cos(z));
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}
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inline double
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angleutils::angle_diff(double a, double b)
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{
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a = normalize(a);
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b = normalize(b);
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double d1 = a - b;
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double d2 = 2 * M_PI - fabs(d1);
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if (d1 > 0) {
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d2 *= -1.0;
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}
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if (fabs(d1) < fabs(d2)) {
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return d1;
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} else {
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return d2;
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}
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}
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} // namespace nav2_amcl
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#endif // NAV2_AMCL__ANGLEUTILS_HPP_
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