24#ifndef _UTILS_MATH_COORD_H_
25#define _UTILS_MATH_COORD_H_
38cart2polar2d(
float cart_x,
float cart_y,
float *polar_phi,
float *polar_dist)
40 *polar_phi = atan2f(cart_y, cart_x);
41 *polar_dist = sqrtf(cart_x * cart_x + cart_y * cart_y);
60 polar_r = sqrtf(cart_x * cart_x + cart_y * cart_y + cart_z * cart_z);
61 polar_phi = atan2f(cart_y, cart_x);
62 polar_theta = -1.0 * atan2f(cart_z, sqrtf(cart_x * cart_x + cart_y * cart_y));
72polar2cart2d(
float polar_phi,
float polar_dist,
float *cart_x,
float *cart_y)
74 *cart_x = polar_dist * cosf(polar_phi);
75 *cart_y = polar_dist * sinf(polar_phi);
Fawkes library namespace.
void cart2polar2d(float cart_x, float cart_y, float *polar_phi, float *polar_dist)
Convert a 2D cartesian coordinate to a 2D polar coordinate.
void cart2polar3d(float cart_x, float cart_y, float cart_z, float &polar_phi, float &polar_theta, float &polar_r)
Convert a 3D cartesian coordinate (x, y, z) to a 3D polar coordinate.
void polar2cart2d(float polar_phi, float polar_dist, float *cart_x, float *cart_y)
Convert a 2D polar coordinate to a 2D cartesian coordinate.