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9 #ifndef MRPT_MATH_WRAP2PI_H
10 #define MRPT_MATH_WRAP2PI_H
12 #define _USE_MATH_DEFINES // (For VS to define M_PI, etc. in cmath)
31 a = fmod(a, static_cast<T>(2.0*
M_PI) );
32 if (was_neg) a+=static_cast<T>(2.0*
M_PI);
69 template <
class VECTOR>
72 const size_t N=x.size();
73 for (
size_t i=0;i<N;i++)
77 double Ap = x[i]-x[i-1];
T angDistance(T from, T to)
Computes the shortest angular increment (or distance) between two planar orientations,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
T wrapTo2Pi(T a)
Modifies the given angle to translate it into the [0,2pi[ range.
void wrapToPiInPlace(T &a)
Modifies the given angle to translate it into the ]-pi,pi] range.
T wrapToPi(T a)
Modifies the given angle to translate it into the ]-pi,pi] range.
void wrapTo2PiInPlace(T &a)
Modifies the given angle to translate it into the [0,2pi[ range.
void unwrap2PiSequence(VECTOR &x)
Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolut...
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