#ifndef mathutil_hh #define mathutil_hh // mathutil.hh // robert - programme du robot 2005. {{{ // // Copyright (C) 2005 Nicolas Schodet // // Robot APB Team/Efrei 2005. // Web: http://assos.efrei.fr/robot/ // Email: robot AT efrei DOT fr // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include /// Normalise l'angle entre -pi et +pi. double angleNorm (double a); /// Converti en coordonnées polaires. void toPolar (double x, double y, double &r, double &a); /// Normalise l'angle en [-pi..+pi). inline double angleNorm (double a) { while (a >= M_PI) a -= 2.0 * M_PI; while (a < -M_PI) a += 2.0 * M_PI; return a; } /// Converti en coordonnées polaires. inline void toPolar (double x, double y, double &r, double &a) { // Rayon. r = sqrt (x * x + y * y); a = y > 0 ? acos (x / r) : -acos (x / r); } #endif // mathutil_hh