ArMath Class Reference

This class has static members to do common math operations. More...

#include <ariaUtil.h>

List of all members.

Static Public Member Functions
static double	addAngle (double ang1, double ang2)
	This adds two angles together and fixes the result to [-180, 180].
static bool	angleBetween (double angle, double startAngle, double endAngle)
	Finds if one angle is between two other angles.
static double	atan2 (double y, double x)
	Finds the arctan of the given y/x pair.
static double	cos (double angle)
	Finds the cos, from angles in degrees.
static double	degToRad (double deg)
	Converts an angle in degrees to an angle in radians.
static double	distanceBetween (double x1, double y1, double x2, double y2)
	Finds the distance between two coordinates.
static double	fabs (double val)
	Finds the absolute value of a double.
static double	fixAngle (double angle)
	Takes an angle and returns the angle in range (-180,180].
static double	log2 (double x)
static void	pointRotate (double *x, double *y, double th)
	Rotates a point around 0 by degrees given.
static double	radToDeg (double rad)
	Converts an angle in radians to an angle in degrees.
static long	random (void)
	Returns a long between 0 and some arbitrary huge number.
static int	roundInt (double val)
	Finds the closest integer to double given.
static short	roundShort (double val)
	Finds the closest short to double given.
static double	sin (double angle)
	Finds the sin, from angles in degrees.
static double	squaredDistanceBetween (double x1, double y1, double x2, double y2)
	Finds the squared distance between two coordinates.
static double	subAngle (double ang1, double ang2)
	This subtracts one angle from another and fixes the result to [-180,180].

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Detailed Description

This class has static members to do common math operations.

Definition at line 249 of file ariaUtil.h.

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Member Function Documentation

static double ArMath::addAngle (  double  ang1, double  ang2 )  [inline, static]

This adds two angles together and fixes the result to [-180, 180]. Parameters: ang1  first angle ang2  second angle, added to first Returns: sum of the angles, in range [-180,180] See also: subAngle fixAngle Definition at line 260 of file ariaUtil.h. References fixAngle(). Referenced by ArActionTriangleDriveTo::findTriangle(), ArActionIRs::fire(), ArActionBumpers::fire(), ArSick::processPacket(), ArRobot::setDeltaHeading(), and ArRobot::stateReflector().

static double ArMath::atan2 (  double  y, double  x )  [inline, static]

Finds the arctan of the given y/x pair. Parameters: y  the y distance x  the x distance Returns: the angle y and x form Definition at line 332 of file ariaUtil.h. References radToDeg(). Referenced by ArSensorReading::resetSensorPosition().

static double ArMath::cos (  double  angle  )  [inline, static]

Finds the cos, from angles in degrees. Parameters: angle  angle to find the cos of, in degrees Returns: the cos of the angle See also: sin Definition at line 316 of file ariaUtil.h. References degToRad(). Referenced by ArBumpers::addBumpToBuffer(), ArTransform::ArTransform(), ArActionTriangleDriveTo::findTriangle(), pointRotate(), ArForbiddenRangeDevice::processReadings(), ArSensorReading::resetSensorPosition(), and ArTransform::setTransform().

static double ArMath::degToRad (  double  deg  )  [inline, static]

Converts an angle in degrees to an angle in radians. Parameters: deg  the angle in degrees Returns: the angle in radians See also: radToDeg Definition at line 300 of file ariaUtil.h. Referenced by cos(), ArPose::getThRad(), and sin().

static double ArMath::distanceBetween (  double  x1, double  y1, double  x2, double  y2 )  [inline, static]

Finds the distance between two coordinates. Parameters: x1  the first coords x position y1  the first coords y position x2  the second coords x position y2  the second coords y position Returns: the distance between (x1, y1) and (x2, y2) Definition at line 424 of file ariaUtil.h. Referenced by ArPose::findDistanceTo().

static double ArMath::fabs (  double  val  )  [inline, static]

Finds the absolute value of a double. Parameters: val  the number to find the absolute value of Returns: the absolute value of the number Definition at line 352 of file ariaUtil.h. Referenced by ArActionTriangleDriveTo::findTriangle(), ArActionTriangleDriveTo::fire(), ArActionRobotJoydrive::fire(), ArActionLimiterBackwards::fire(), ArActionIRs::fire(), ArActionDeceleratingLimiter::fire(), ArActionColorFollow::fire(), ArActionBumpers::fire(), ArAnalogGyro::handleGyroPacket(), ArSickLogger::setDegDiff(), ArSickLogger::setDistDiff(), ArRobot::setRotDecel(), ArRobot::setTransDecel(), and ArRobot::stateReflector().

static double ArMath::fixAngle (  double  angle  )  [inline, static]

Takes an angle and returns the angle in range (-180,180]. Parameters: angle  the angle to fix Returns: the angle in range (-180,180] See also: addAngle subAngle Definition at line 281 of file ariaUtil.h. Referenced by addAngle(), angleBetween(), ArAnalogGyro::encoderCorrect(), ArRangeBuffer::getClosestPolarInList(), ArAnalogGyro::handleGyroPacket(), ArTCM2::packetHandler(), ArRobot::processMotorPacket(), ArPose::setTh(), ArPose::setThRad(), and subAngle().

static double ArMath::log2 (  double  x  )  [inline, static]

Base-2 logarithm Definition at line 440 of file ariaUtil.h.

static double ArMath::radToDeg (  double  rad  )  [inline, static]

Converts an angle in radians to an angle in degrees. Parameters: rad  the angle in radians Returns: the angle in degrees See also: degToRad Definition at line 308 of file ariaUtil.h. Referenced by atan2(), ArPose::findAngleTo(), and ArRobot::processMotorPacket().

static int ArMath::roundInt (  double  val  )  [inline, static]

Finds the closest integer to double given. Parameters: val  the double to find the nearest integer to Returns: the integer the value is nearest to (also caps it within int bounds) Definition at line 366 of file ariaUtil.h. Referenced by ArP2Arm::convertDegToTicks(), ArP2Arm::convertTicksToDeg(), ArJoyHandler::getAdjusted(), ArJoyHandler::getNewData(), ArRobot::processMotorPacket(), ArSick::processPacket(), ArSick::simPacketHandler(), and ArSectors::update().

static short ArMath::roundShort (  double  val  )  [inline, static]

Finds the closest short to double given. Parameters: val  the double to find the nearest short to Returns: the integer the value is nearest to (also caps it within short bounds) Definition at line 383 of file ariaUtil.h. Referenced by ArRobot::stateReflector().

static double ArMath::sin (  double  angle  )  [inline, static]

Finds the sin, from angles in degrees. Parameters: angle  angle to find the sin of, in degrees Returns: the sin of the angle See also: cos Definition at line 324 of file ariaUtil.h. References degToRad(). Referenced by ArBumpers::addBumpToBuffer(), ArTransform::ArTransform(), ArActionTriangleDriveTo::findTriangle(), pointRotate(), ArForbiddenRangeDevice::processReadings(), ArSensorReading::resetSensorPosition(), and ArTransform::setTransform().

static double ArMath::squaredDistanceBetween (  double  x1, double  y1, double  x2, double  y2 )  [inline, static]

Finds the squared distance between two coordinates. use this only where speed really matters Parameters: x1  the first coords x position y1  the first coords y position x2  the second coords x position y2  the second coords y position Returns: the distance between (x1, y1) and (x2, y2) Definition at line 436 of file ariaUtil.h. Referenced by ArSick::filterAddAndCleanCumulative(), ArForbiddenRangeDevice::processReadings(), and ArPose::squaredFindDistanceTo().

static double ArMath::subAngle (  double  ang1, double  ang2 )  [inline, static]

This subtracts one angle from another and fixes the result to [-180,180]. Parameters: ang1  first angle ang2  second angle, subtracted from first angle Returns: resulting angle, in range [-180,180] See also: addAngle fixAngle Definition at line 271 of file ariaUtil.h. References fixAngle(). Referenced by ArAnalogGyro::encoderCorrect(), ArRobot::findDeltaHeadingTo(), ArActionTriangleDriveTo::findTriangle(), ArActionGotoStraight::fire(), ArActionBumpers::fire(), ArRangeBuffer::getClosestPolarInList(), ArInterpolation::getPose(), ArTransform::setTransform(), and ArRobot::stateReflector().

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The documentation for this class was generated from the following file:

• ariaUtil.h

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