RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Removes Angle::deg90/180 because of issues

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This commit is contained in:
Pascal Serrarens 2024-09-27 09:44:06 +02:00
parent 0a07b23e96
commit edbb4b1ffc
4 changed files with 26 additions and 21 deletions
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12
Angle.cpp
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@ -129,12 +129,12 @@ float AngleOf<signed char>::InRadians() const {
//===== Generic
template <typename T>
const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
template <typename T>
const AngleOf<T> AngleOf<T>::deg90 = AngleOf<T>::Degrees(90);
template <typename T>
const AngleOf<T> AngleOf<T>::deg180 = AngleOf<T>::Degrees(180);
// template <typename T>
// const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
// template <typename T>
// const AngleOf<T> AngleOf<T>::deg90 = AngleOf<T>::Degrees(90);
// template <typename T>
// const AngleOf<T> AngleOf<T>::deg180 = AngleOf<T>::Degrees(180);
template <typename T>
bool AngleOf<T>::operator==(const AngleOf<T> a) const {

6
Angle.h
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@ -21,9 +21,9 @@ class AngleOf {
static AngleOf<T> Degrees(float f);
static AngleOf<T> Radians(float f);
const static AngleOf<T> zero;
const static AngleOf<T> deg90;
const static AngleOf<T> deg180;
// const static AngleOf<T> zero;
// const static AngleOf<T> deg90;
// const static AngleOf<T> deg180;
float InDegrees() const;
float InRadians() const;

24
Direction.cpp
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@ -39,19 +39,19 @@ const DirectionOf<T> DirectionOf<T>::forward =
DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
template <typename T>
const DirectionOf<T> DirectionOf<T>::back =
DirectionOf<T>(AngleOf<T>::deg180, AngleOf<T>());
DirectionOf<T>(AngleOf<T>::Degrees(180), AngleOf<T>());
template <typename T>
const DirectionOf<T> DirectionOf<T>::up =
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::deg90);
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::Degrees(90));
template <typename T>
const DirectionOf<T> DirectionOf<T>::down =
DirectionOf<T>(AngleOf<T>(), -AngleOf<T>::deg90);
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::Degrees(-90));
template <typename T>
const DirectionOf<T> DirectionOf<T>::left =
DirectionOf<T>(-AngleOf<T>::deg90, AngleOf<T>());
DirectionOf<T>(AngleOf<T>::Degrees(-90), AngleOf<T>());
template <typename T>
const DirectionOf<T> DirectionOf<T>::right =
DirectionOf<T>(AngleOf<T>::deg90, AngleOf<T>());
DirectionOf<T>(AngleOf<T>::Degrees(90), AngleOf<T>());
template <typename T>
Vector3 Passer::LinearAlgebra::DirectionOf<T>::ToVector3() const {
@ -68,7 +68,7 @@ DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::FromVector3(Vector3 v) {
v.Right(),
v.Forward()); // AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
d.vertical =
-AngleOf<T>::deg90 -
AngleOf<T>::Degrees(-90) -
AngleOf<T>::Acos(
v.Up()); // AngleOf<T>::Radians(-(0.5f * pi) - acosf(v.Up()));
d.Normalize();
@ -97,8 +97,8 @@ bool Passer::LinearAlgebra::DirectionOf<T>::operator==(
template <typename T>
DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::operator-() const {
DirectionOf<T> r =
DirectionOf<T>(this->horizontal + AngleOf<T>::deg180, -this->vertical);
DirectionOf<T> r = DirectionOf<T>(this->horizontal + AngleOf<T>::Degrees(180),
-this->vertical);
return r;
}
@ -112,10 +112,10 @@ Vector3 DirectionOf<T>::ToVector3() {
template <typename T>
void DirectionOf<T>::Normalize() {
if (this->vertical > AngleOf<T>::deg90 ||
this->vertical < -AngleOf<T>::deg90) {
this->horizontal += AngleOf<T>::deg180;
this->vertical = AngleOf<T>::deg180 - this->vertical;
if (this->vertical > AngleOf<T>::Degrees(90) ||
this->vertical < AngleOf<T>::Degrees(-90)) {
this->horizontal += AngleOf<T>::Degrees(180);
this->vertical = AngleOf<T>::Degrees(180) - this->vertical;
}
}

5
test/SwingTwistSingle_test.cc
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@ -93,6 +93,11 @@ TEST(SwingTwistSingle, AngleAxis) {
s = SwingTwistSingle::Degrees(0, 0, -90);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "270 up";
auto r16 = SwingTwist16::AngleAxis(13, Direction16::down);
auto s16 = SwingTwist16::Degrees(-13, 0, 0);
EXPECT_LT(SwingTwist16::Angle(r16, s16), Angle16::Degrees(10e-2f))
<< "270 up";
}
#endif