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#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 <cmath>

/// Normalise l'angle entre -pi et +pi.
double
angleNorm (double a);

/// Converti en coordonn´┐Żes 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 coordonn´┐Żes 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