okapi::OdomMath Class Reference

#include <odomMath.hpp>

Static Public Member Functions
static QLength	computeDistanceToPoint (const Point &ipoint, const OdomState &istate)
	Computes the distance from the given Odometry state to the given point.
static QAngle	computeAngleToPoint (const Point &ipoint, const OdomState &istate)
	Computes the angle from the given Odometry state to the given point.
static std::pair< QLength, QAngle >	computeDistanceAndAngleToPoint (const Point &ipoint, const OdomState &istate)
	Computes the distance and angle from the given Odometry state to the given point.
static QAngle	constrainAngle360 (const QAngle &angle)
	Constraints the angle to [0,360] degrees.
static QAngle	constrainAngle180 (const QAngle &angle)
	Constraints the angle to [-180,180) degrees.

Detailed Description

Definition at line 14 of file odomMath.hpp.

Member Function Documentation

computeAngleToPoint()

static QAngle okapi::OdomMath::computeAngleToPoint ( const Point &  ipoint, const OdomState &  istate  )

static

Computes the angle from the given Odometry state to the given point.

The point and the OdomState must be in StateMode::FRAME_TRANSFORMATION.

Parameters

ipoint	The point.
istate	The Odometry state.

Returns

The angle between the Odometry state and the point.

computeDistanceAndAngleToPoint()

static std::pair< QLength, QAngle > okapi::OdomMath::computeDistanceAndAngleToPoint ( const Point &  ipoint, const OdomState &  istate  )

static

Computes the distance and angle from the given Odometry state to the given point.

The point and the OdomState must be in StateMode::FRAME_TRANSFORMATION.

Parameters

ipoint	The point.
istate	The Odometry state.

Returns

The distance and angle between the Odometry state and the point.

computeDistanceToPoint()

static QLength okapi::OdomMath::computeDistanceToPoint ( const Point &  ipoint, const OdomState &  istate  )

static

Computes the distance from the given Odometry state to the given point.

The point and the OdomState must be in StateMode::FRAME_TRANSFORMATION.

Parameters

ipoint	The point.
istate	The Odometry state.

Returns

The distance between the Odometry state and the point.

constrainAngle180()

static QAngle okapi::OdomMath::constrainAngle180 ( const QAngle &  angle )

static

Constraints the angle to [-180,180) degrees.

Parameters

angle

The input angle.

Returns

The angle normalized to [-180,180) degrees.

constrainAngle360()

static QAngle okapi::OdomMath::constrainAngle360 ( const QAngle &  angle )

static

Constraints the angle to [0,360] degrees.

Parameters

angle

The input angle.

Returns

The angle normalized to [0,360] degrees.

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

• include/okapi/api/odometry/odomMath.hpp