argos_lib::angle Namespace Reference

Functions
units::degree_t	NearestAngle (units::degree_t desiredAngle, units::degree_t referenceAngle)
	Finds closest angle alias of desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded.
units::degree_t	InvertedAngle (units::degree_t desiredAngle, units::degree_t referenceAngle)
	Finds closest angle alias of a vector 180-degrees offset from desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded.
units::degree_t	ConstrainAngle (units::degree_t inVal, units::degree_t minVal, units::degree_t maxVal)
	Normalize angle to specified range.
double	ConstrainAngle (double inVal, double minVal, double maxVal)
	Normalize angle to specified range.

Function Documentation

ConstrainAngle() [1/2]

double argos_lib::angle::ConstrainAngle	(	double	inVal,
		double	minVal,
		double	maxVal
	)

Normalize angle to specified range.

Parameters

inVal	Angle to constrain (degrees)
minVal	Normalization lower bound (degrees)
maxVal	Normalization upper bound (degrees)

Returns

Normalized value in range [minVal, maxVal] (degrees)

ConstrainAngle() [2/2]

units::degree_t argos_lib::angle::ConstrainAngle	(	units::degree_t	inVal,
		units::degree_t	minVal,
		units::degree_t	maxVal
	)

Normalize angle to specified range.

Parameters

inVal	Angle to constrain
minVal	Normalization lower bound
maxVal	Normalization upper bound

Returns

Normalized value in range [minVal, maxVal]

InvertedAngle()

units::degree_t argos_lib::angle::InvertedAngle	(	units::degree_t	desiredAngle,
		units::degree_t	referenceAngle
	)

Finds closest angle alias of a vector 180-degrees offset from desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded.

Parameters

desiredAngle	Angle to find 180-degree offset alias for
referenceAngle	Defines desired alias range

Returns

Offset angle alias of desiredAngle in range (referencedAngle - 180_deg, referencedAngle + 180_deg]

NearestAngle()

units::degree_t argos_lib::angle::NearestAngle	(	units::degree_t	desiredAngle,
		units::degree_t	referenceAngle
	)

Finds closest angle alias of desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded.

Parameters

desiredAngle	Angle to find alias for
referenceAngle	Defines desired alias range

Returns

Angle alias of desiredAngle in range (referencedAngle - 180_deg, referencedAngle + 180_deg]