DUNE::Math::Angles Class Reference

Detailed Description

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 &degrees, int &minutes, double &seconds)
static void	convertDecimalToDM (double value, int &degrees, double &minutes)
static void	rotate (double angle, bool clockwise, double &x, double &y)
static fp64_t	minSignedAngle (fp64_t source, fp64_t target)

Member Function Documentation

convertDecimalToDM()

static void DUNE::Math::Angles::convertDecimalToDM ( double  value, int &  degrees, double &  minutes  )

inlinestatic

Convert decimal degrees to Degrees, Minutes.

Parameters

value	degrees in decimal format.
degrees	computed degrees.
minutes	computed minutes.

Referenced by DUNE::Coordinates::latitudeToNMEA(), and DUNE::Coordinates::longitudeToNMEA().

convertDecimalToDMS()

static void DUNE::Math::Angles::convertDecimalToDMS ( double  value, int &  degrees, int &  minutes, double &  seconds  )

inlinestatic

Convert decimal degrees to Degrees, Minutes, Seconds.

Parameters

value	degrees in decimal format.
degrees	computed degrees.
minutes	computed minutes.
seconds	computed seconds.

convertDMSToDecimal() [1/2]

static fp64_t DUNE::Math::Angles::convertDMSToDecimal ( int  degrees, int  minutes, int  seconds  )

inlinestatic

Convert Degrees, Minutes, Seconds to Decimal Format.

Parameters

degrees	degrees.
minutes	minutes.
seconds	seconds.

Returns

degrees in decimal format.

Referenced by DUNE::Coordinates::NMEAToLatitude(), and DUNE::Coordinates::NMEAToLongitude().

convertDMSToDecimal() [2/2]

static fp64_t DUNE::Math::Angles::convertDMSToDecimal ( int  degrees, double  minutes  )

inlinestatic

Convert Degrees, Minutes to Decimal Format.

Parameters

degrees	degrees.
minutes	minutes.

Returns

degrees in decimal format.

degrees()

static fp64_t DUNE::Math::Angles::degrees ( fp64_t  r )

inlinestatic

Convert a value given in radian to degree.

Parameters

r	value in radian.

Returns

value converted to degree.

Referenced by Actuators::PWM::ServoPwm::CheckGPIOSate(), Simulators::UAV::Task::commandPrintOut(), DUNE::Control::PathController::consume(), Maneuver::VehicleFormation::Coordinator::Task::consume(), Maneuver::VehicleFormation::FormCollAvoid::Task::consume(), DUNE::Coordinates::WMM::declination(), DUNE::Coordinates::WMM::height(), DUNE::Coordinates::latitudeToNMEA(), DUNE::Coordinates::longitudeToNMEA(), DUNE::Control::BottomTracker::onEstimatedState(), 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().

minSignedAngle()

static fp64_t DUNE::Math::Angles::minSignedAngle ( fp64_t  source, fp64_t  target  )

inlinestatic

Computes the smallest signed angle between two angles (radians).

Parameters

source	reference angle.
target	target angle.

Returns

smallest signed angle.

Referenced by DUNE::Navigation::BasicNavigation::consume().

normalizeRadian()

static fp64_t DUNE::Math::Angles::normalizeRadian ( fp64_t  a )

inlinestatic

Normalize radian so that the value falls between -pi and +pi.

Parameters

a	angle in radian.

Returns

normalized angle.

Referenced by DUNE::Navigation::BasicNavigation::checkDeclination(), DUNE::Control::PathController::consume(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Coordinates::NMEAToLatitude(), DUNE::Coordinates::NMEAToLongitude(), DUNE::Navigation::BasicNavigation::onDispatchNavigation(), and DUNE::Simulation::UAVSimulation::update().

radians()

static fp64_t DUNE::Math::Angles::radians ( fp64_t  d )

inlinestatic

Convert a value given in degree to radian.

Parameters

d	value in degree.

Returns

value converted to radian.

Referenced by DUNE::Coordinates::WMM::declination(), DUNE::IMC::DeviceUpdate::deserialize(), DUNE::IMC::ExtendedDeviceUpdate::deserialize(), DUNE::Navigation::BeamFilter::getAltitude(), DUNE::Coordinates::NMEAToLatitude(), DUNE::Coordinates::NMEAToLongitude(), 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().

rotate()

static void DUNE::Math::Angles::rotate ( double  angle, bool  clockwise, double &  x, double &  y  )

inlinestatic

XY Coordinate conversion considering a rotation angle.

Parameters

[in]	angle	angle in radian.
[in]	clockwise	true for a clockwise rotation, false for counterclockwise.
[in,out]	x	original x value on entry, rotated x value on exit.
[in,out]	y	original y value on entry, rotated y value on exit.

Author

Eduardo Marques

Referenced by DUNE::Maneuvers::RowsStages::getDistance(), and DUNE::Maneuvers::RowsStages::RowsStages().

Collaboration diagram for DUNE::Math::Angles: