light::util Namespace Reference

Misc math, geometry, and unit-conversion helpers. More...

Functions
int	places_after_decimal (double input, int min=0)
	Returns the amount of places after a decimal, maxing out at 6.
std::string	to_string_with_precision (double input, int n=2)
	Returns a string with a specific number of decimal points.
int	sgn (double input)
	Returns 1 if input is positive and -1 if input is negative.
bool	reversed_active (double input)
	Returns true if the input is < 0.
double	clamp (double input, double max, double min)
	Returns input restricted to min-max threshold.
double	clamp (double input, double max)
	Returns input restricted to min-max threshold.
double	to_deg (double input)
	Converts radians to degrees.
double	to_rad (double input)
	Converts degrees to radians.
double	absolute_angle_to_point (pose itarget, pose icurrent)
	Returns the angle between two points.
double	distance_to_point (pose itarget, pose icurrent)
	Returns the distance between two points.
double	wrap_angle (double theta)
	Constrains an angle between 180 and -180.
float	wrap_rad (float a)
	Wraps an angle in radians to the half-open interval (-pi, pi].
pose	vector_off_point (double added, pose icurrent)
	Returns a new pose that is projected off of the current pose.
double	turn_shortest (double target, double current, bool print=false)
	Returns the shortest angle for the robot to turn to in order to get to target.
double	turn_longest (double target, double current, bool print=false)
	Returns the farthest away angle for the robot to turn to in order to get to target.
pose	united_pose_to_pose (united_pose input)
	Converts pose with okapi units to a pose without okapi units.
std::vector< odom >	united_odoms_to_odoms (std::vector< united_odom > inputs)
	Converts vector of poses with okapi units to a vector of poses without okapi units.
odom	united_odom_to_odom (united_odom input)
	Converts odom movement with united pose to an odom movement without united pose.

Variables
bool	AUTON_RAN
	Set true once any autonomous routine has run this match.
const bool	SD_CARD_ACTIVE = pros::usd::is_installed()
	True if an SD card is currently inserted.
const int	DELAY_TIME = 10
	Default loop period for LightLib background tasks, in milliseconds.

Detailed Description

Misc math, geometry, and unit-conversion helpers.

Function Documentation

absolute_angle_to_point()

double light::util::absolute_angle_to_point	(	pose	itarget,
		pose	icurrent
	)

Returns the angle between two points.

Parameters

itarget	target position
icurrent	current position

clamp() [1/2]

double light::util::clamp	(	double	input,
		double	max
	)

Returns input restricted to min-max threshold.

The minimum used is negative max.

Parameters

input	your input value
max	the absolute value maximum input can be

clamp() [2/2]

double light::util::clamp	(	double	input,
		double	max,
		double	min
	)

Returns input restricted to min-max threshold.

Parameters

input	your input value
max	the maximum input can be
min	the minimum input can be

distance_to_point()

double light::util::distance_to_point	(	pose	itarget,
		pose	icurrent
	)

Returns the distance between two points.

Parameters

itarget	target position
icurrent	current position

places_after_decimal()

int light::util::places_after_decimal	(	double	input,
		int	min = 0
	)

Returns the amount of places after a decimal, maxing out at 6.

Parameters

input	your input value with decimals
min	minimum number of decimal places to print, this is defaulted to 0

reversed_active()

bool light::util::reversed_active

(

double

input

)

Returns true if the input is < 0.

Parameters

input

your input value

sgn()

int light::util::sgn

(

double

input

)

Returns 1 if input is positive and -1 if input is negative.

Parameters

input

your input value

to_deg()

double light::util::to_deg

(

double

input

)

Converts radians to degrees.

Parameters

input

your input radian

to_rad()

double light::util::to_rad

(

double

input

)

Converts degrees to radians.

Parameters

input

your input degree

to_string_with_precision()

std::string light::util::to_string_with_precision	(	double	input,
		int	n = 2
	)

Returns a string with a specific number of decimal points.

Parameters

input	your input value
n	the amount of decimals you want to display

turn_longest()

double light::util::turn_longest	(	double	target,
		double	current,
		bool	print = false
	)

Returns the farthest away angle for the robot to turn to in order to get to target.

Parameters

target	target value in degrees
current	current value in degrees
print	= false will print the new value if this is true, defaults to false

turn_shortest()

double light::util::turn_shortest	(	double	target,
		double	current,
		bool	print = false
	)

Returns the shortest angle for the robot to turn to in order to get to target.

Parameters

target	target value in degrees
current	current value in degrees
print	= false will print the new value if this is true, defaults to false

united_odom_to_odom()

odom light::util::united_odom_to_odom

(

united_odom

input

)

Converts odom movement with united pose to an odom movement without united pose.

Parameters

input

odom movement with units

united_odoms_to_odoms()

std::vector< odom > light::util::united_odoms_to_odoms

(

std::vector< united_odom >

inputs

)

Converts vector of poses with okapi units to a vector of poses without okapi units.

Parameters

inputs

poses with units

united_pose_to_pose()

pose light::util::united_pose_to_pose

(

united_pose

input

)

Converts pose with okapi units to a pose without okapi units.

Parameters

input

a pose with units

vector_off_point()

pose light::util::vector_off_point	(	double	added,
		pose	icurrent
	)

Returns a new pose that is projected off of the current pose.

Parameters

added	how far to project a new point
icurrent	point to project off of

wrap_angle()

double light::util::wrap_angle

(

double

theta

)

Constrains an angle between 180 and -180.

Parameters

theta

input angle in degrees

wrap_rad()

float light::util::wrap_rad ( float  a )

inline

Wraps an angle in radians to the half-open interval (-pi, pi].

Uses atan2(sin, cos) rather than a while-loop normalization: branch-free and stable across very large inputs.

Parameters

a	input angle in radians

Definition at line 291 of file util.hpp.

Variable Documentation

AUTON_RAN

bool light::util::AUTON_RAN

extern

Set true once any autonomous routine has run this match.

DELAY_TIME

const int light::util::DELAY_TIME = 10

Default loop period for LightLib background tasks, in milliseconds.

Definition at line 236 of file util.hpp.

SD_CARD_ACTIVE

const bool light::util::SD_CARD_ACTIVE = pros::usd::is_installed()

True if an SD card is currently inserted.

Captured at program start.

Definition at line 233 of file util.hpp.