DUNE: Uniform Navigational Environment
2016.09.0
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Angle manipulation and conversion methods.
Static Public Member Functions | |
static fp64_t | normalizeRadian (fp64_t a) |
static fp64_t | radians (fp64_t d) |
static fp64_t | degrees (fp64_t r) |
static fp64_t | convertDMSToDecimal (int degrees, int minutes, int seconds) |
static fp64_t | convertDMSToDecimal (int degrees, double minutes) |
static void | convertDecimalToDMS (double value, int °rees, int &minutes, double &seconds) |
static void | convertDecimalToDM (double value, int °rees, double &minutes) |
static void | rotate (double angle, bool clockwise, double &x, double &y) |
static fp64_t | minSignedAngle (fp64_t source, fp64_t target) |
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inlinestatic |
Convert decimal degrees to Degrees, Minutes.
value | degrees in decimal format. |
degrees | computed degrees. |
minutes | computed minutes. |
Referenced by DUNE::Coordinates::latitudeToNMEA(), and DUNE::Coordinates::longitudeToNMEA().
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inlinestatic |
Convert decimal degrees to Degrees, Minutes, Seconds.
value | degrees in decimal format. |
degrees | computed degrees. |
minutes | computed minutes. |
seconds | computed seconds. |
References degrees().
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inlinestatic |
Convert Degrees, Minutes, Seconds to Decimal Format.
degrees | degrees. |
minutes | minutes. |
seconds | seconds. |
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inlinestatic |
Convert Degrees, Minutes to Decimal Format.
degrees | degrees. |
minutes | minutes. |
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inlinestatic |
Convert a value given in radian to degree.
r | value in radian. |
Referenced by Simulators::UAV::Task::commandPrintOut(), DUNE::Control::PathController::consume(), Maneuver::VehicleFormation::Coordinator::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), convertDecimalToDMS(), DUNE::Coordinates::WMM::declination(), DUNE::Coordinates::WMM::height(), DUNE::Coordinates::latitudeToNMEA(), DUNE::Coordinates::longitudeToNMEA(), Simulators::UAV::Task::onResourceAcquisition(), DUNE::IMC::DeviceUpdate::serialize(), DUNE::IMC::ExtendedDeviceUpdate::serialize(), Sensors::Imagenex837B::Frame::setGpsData(), Maneuver::VehicleFormation::Coordinator::Task::setLeaderState(), Maneuver::VehicleFormation::FormCollAvoid::Task::setLeaderState(), and DUNE::Monitors::ServoPositionMonitor< T >::updateAndTest().
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inlinestatic |
Computes the smallest signed angle between two angles (radians).
source | reference angle. |
target | target angle. |
Referenced by DUNE::Navigation::BasicNavigation::consume().
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inlinestatic |
Normalize radian so that the value falls between -pi and +pi.
a | angle in radian. |
Referenced by DUNE::Control::PathController::consume(), DUNE::Navigation::BasicNavigation::isActive(), and DUNE::Navigation::BasicNavigation::onDispatchNavigation().
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inlinestatic |
Convert a value given in degree to radian.
d | value in degree. |
Referenced by DUNE::Coordinates::WMM::declination(), DUNE::IMC::DeviceUpdate::deserialize(), DUNE::IMC::ExtendedDeviceUpdate::deserialize(), Sensors::GillWindObserverII::Task::onMain(), Simulators::UAV::Task::onResourceAcquisition(), DUNE::Control::PathController::onUpdateParameters(), Simulators::UAV::Task::onUpdateParameters(), Maneuver::VehicleFormation::Coordinator::Task::onUpdateParameters(), Maneuver::VehicleFormation::FormCollAvoid::Task::onUpdateParameters(), DUNE::Parsers::PlanConfigParser::parseAngle(), and Maneuver::VehicleFormation::Coordinator::Task::Task().
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inlinestatic |
XY Coordinate conversion considering a rotation angle.
(Eduardo Marques)
angle | angle |
clockwise | clockwise rotation or not |
x | original x value on entry, rotated x value on exit. |
y | original y value on entry, rotated y value on exit. |