RoboidControl-cpp/Angle.cpp

// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.

#include "Angle.h"
#include "FloatSingle.h"
#include <math.h>

const float Rad2Deg = 57.29578F;
const float Deg2Rad = 0.0174532924F;
/*
float Angle::Normalize(float angle) {
  if (!isfinite(angle))
    return angle;

  while (angle <= -180)
    angle += 360;
  while (angle > 180)
    angle -= 360;
  return angle;
}
*/

//----------------------

template <typename T> AngleOf<T>::AngleOf() : value(0) {}

// template <typename T> AngleOf<T>::AngleOf(T angle) : value(angle) {}

//===== AngleSingle, AngleOf<float>

template <> AngleOf<float> AngleOf<float>::Degrees(float angle) {
  if (isfinite(angle)) {
    while (angle < -180)
      angle += 360;
    while (angle >= 180)
      angle -= 360;
  }

  return AngleOf(angle);
}

template <> AngleOf<float> AngleOf<float>::Radians(float angle) {
  if (isfinite(angle)) {
    while (angle <= -pi)
      angle += 2 * pi;
    while (angle > pi)
      angle -= 2 * pi;
  }

  return AngleOf(angle * Rad2Deg);
}

template <typename T> AngleOf<T> AngleOf<T>::Binary(T x) {
  AngleOf<T> angle = AngleOf<T>();
  angle.value = x;
  return angle;
}

template <> float AngleOf<float>::InDegrees() const { return this->value; }

template <> float AngleOf<float>::InRadians() const {
  return this->value * Deg2Rad;
}

//===== Angle16, AngleOf<signed short>

template <> AngleOf<signed short> AngleOf<signed short>::Degrees(float angle) {
  // map float [-180..180) to integer [-32768..32767]
  signed short value = (signed short)roundf(angle / 360.0F * 65536.0F);
  return AngleOf<signed short>(value);
}

template <> AngleOf<signed short> AngleOf<signed short>::Radians(float angle) {
  if (!isfinite(angle))
    return AngleOf<signed short>(0);

  // map float [-PI..PI) to integer [-32768..32767]
  signed short value = (signed short)roundf(angle / pi * 32768.0F);
  return AngleOf<signed short>(value);
}

template <> float AngleOf<signed short>::InDegrees() const {
  float degrees = this->value / 65536.0f * 360.0f;
  return degrees;
}

template <> float AngleOf<signed short>::InRadians() const {
  float radians = this->value / 65536.0f * (2 * pi);
  return radians;
}

//===== Angle8, AngleOf<signed char>

template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float angle) {
  // map float [-180..180) to integer [-128..127)
  signed char value = (signed char)roundf(angle / 360.0F * 256.0F);
  return AngleOf<signed char>(value);
}

template <> AngleOf<signed char> AngleOf<signed char>::Radians(float angle) {
  if (!isfinite(angle))
    return AngleOf<signed char>(0);

  // map float [-pi..pi) to integer [-128..127)
  signed char value = (signed char)roundf(angle / pi * 128.0f);
  return AngleOf<signed char>(value);
}

template <> float AngleOf<signed char>::InDegrees() const {
  float degrees = this->value / 256.0f * 360.0f;
  return degrees;
}

template <> float AngleOf<signed char>::InRadians() const {
  float radians = this->value / 128.0f * pi;
  return radians;
}

//===== 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> bool AngleOf<T>::operator==(const AngleOf<T> a) const {
  return this->value == a.value;
}

template <typename T> bool AngleOf<T>::operator>(AngleOf<T> a) const {
  return this->value > a.value;
}

template <typename T> bool AngleOf<T>::operator>=(AngleOf<T> a) const {
  return this->value >= a.value;
}

template <typename T> bool AngleOf<T>::operator<(AngleOf<T> a) const {
  return this->value < a.value;
}

template <typename T> bool AngleOf<T>::operator<=(AngleOf<T> a) const {
  return this->value <= a.value;
}

template <typename T>
signed int Passer::LinearAlgebra::AngleOf<T>::Sign(AngleOf<T> a) {
  if (a.value < 0)
    return -1;
  if (a.value > 0)
    return 1;
  return 0;
}

template <typename T>
AngleOf<T> Passer::LinearAlgebra::AngleOf<T>::Abs(AngleOf<T> a) {
  if (Sign(a) < 0)
    return -a;
  else
    return a;
}

template <typename T> AngleOf<T> AngleOf<T>::operator-() const {
  AngleOf<T> angle = AngleOf(-this->value);
  return angle;
}

template <>
AngleOf<float> AngleOf<float>::operator-(const AngleOf<float> &a) const {
  AngleOf<float> angle = AngleOf(this->value - a.value);
  angle = Normalize(angle);
  return angle;
}
template <typename T>
AngleOf<T> AngleOf<T>::operator-(const AngleOf<T> &a) const {
  AngleOf<T> angle = AngleOf(this->value - a.value);
  return angle;
}

template <>
AngleOf<float> AngleOf<float>::operator+(const AngleOf<float> &a) const {
  AngleOf<float> angle = AngleOf(this->value + a.value);
  angle = Normalize(angle);
  return angle;
}
template <typename T>
AngleOf<T> AngleOf<T>::operator+(const AngleOf<T> &a) const {
  AngleOf<T> angle = AngleOf(this->value + a.value);
  return angle;
}

template <> AngleOf<float> AngleOf<float>::operator+=(const AngleOf<float> &a) {
  this->value += a.value;
  this->Normalize();
  return *this;
}

template <typename T> AngleOf<T> AngleOf<T>::operator+=(const AngleOf<T> &a) {
  this->value += a.value;
  return *this;
}

template <typename T> void AngleOf<T>::Normalize() {
  float angleValue = this->InDegrees();
  if (!isfinite(angleValue))
    return;

  while (angleValue <= -180)
    angleValue += 360;
  while (angleValue > 180)
    angleValue -= 360;
  *this = AngleOf::Degrees(angleValue);
}

template <typename T> AngleOf<T> AngleOf<T>::Normalize(AngleOf<T> angle) {
  float angleValue = angle.InDegrees();
  if (!isfinite(angleValue))
    return angle;

  while (angleValue <= -180)
    angleValue += 360;
  while (angleValue > 180)
    angleValue -= 360;
  return AngleOf::Degrees(angleValue);
}

template <typename T>
AngleOf<T> AngleOf<T>::Clamp(AngleOf<T> angle, AngleOf<T> min, AngleOf<T> max) {
  float r = Float::Clamp(angle.InDegrees(), min.InDegrees(), max.InDegrees());
  return AngleOf<T>::Degrees(r);
}

template <typename T>
AngleOf<T> AngleOf<T>::MoveTowards(AngleOf<T> fromAngle, AngleOf<T> toAngle,
                                   float maxDegrees) {
  maxDegrees = fmaxf(0, maxDegrees); // filter out negative distances
  AngleOf<T> d = toAngle - fromAngle;
  float dDegrees = Abs(d).InDegrees();
  d = AngleOf<T>::Degrees(Float::Clamp(dDegrees, 0, maxDegrees));
  if (Sign(d) < 0)
    d = -d;

  return fromAngle + d;
}

template <typename T> float AngleOf<T>::Cos(AngleOf<T> a) {
  return cosf(a.InRadians());
}
template <typename T> float AngleOf<T>::Sin(AngleOf<T> a) {
  return sinf(a.InRadians());
}
template <typename T> float AngleOf<T>::Tan(AngleOf<T> a) {
  return tanf(a.InRadians());
}

template <typename T> AngleOf<T> AngleOf<T>::Acos(float f) {
  return AngleOf<T>::Radians(acosf(f));
}
template <typename T> AngleOf<T> AngleOf<T>::Asin(float f) {
  return AngleOf<T>::Radians(asinf(f));
}
template <typename T> AngleOf<T> AngleOf<T>::Atan(float f) {
  return AngleOf<T>::Radians(atanf(f));
}

template <typename T>
AngleOf<T> Passer::LinearAlgebra::AngleOf<T>::Atan2(float f1, float f2) {
  return AngleOf<T>::Radians(atan2f(f1, f2));
}

// template <>
// float AngleOf<float>::CosineRuleSide(float a, float b, AngleOf<float> gamma)
// {
//   float a2 = a * a;
//   float b2 = b * b;
//   float d =
//       a2 + b2 -
//       2 * a * b * Cos(gamma);  // cosf(gamma *
//       Passer::LinearAlgebra::Deg2Rad);
//   // Catch edge cases where float inacuracies lead tot nans
//   if (d < 0)
//     return 0.0f;

//   float c = sqrtf(d);
//   return c;
// }

template <typename T>
float AngleOf<T>::CosineRuleSide(float a, float b, AngleOf<T> gamma) {
  float a2 = a * a;
  float b2 = b * b;
  float d =
      a2 + b2 -
      2 * a * b * Cos(gamma); // cosf(gamma * Passer::LinearAlgebra::Deg2Rad);
  // Catch edge cases where float inacuracies lead tot nans
  if (d < 0)
    return 0;

  float c = sqrtf(d);
  return c;
}

// template <>
// AngleOf<float> AngleOf<float>::CosineRuleAngle(float a, float b, float c) {
//   float a2 = a * a;
//   float b2 = b * b;
//   float c2 = c * c;
//   float d = (a2 + b2 - c2) / (2 * a * b);
//   // Catch edge cases where float inacuracies lead tot nans
//   if (d >= 1)
//     return 0.0f;
//   if (d <= -1)
//     return 180.0f;

//   float gamma = acosf(d) * Rad2Deg;
//   return gamma;
// }
template <typename T>
AngleOf<T> AngleOf<T>::CosineRuleAngle(float a, float b, float c) {
  float a2 = a * a;
  float b2 = b * b;
  float c2 = c * c;
  float d = (a2 + b2 - c2) / (2 * a * b);
  // Catch edge cases where float inacuracies lead tot nans
  if (d >= 1)
    return AngleOf<T>();
  if (d <= -1)
    return AngleOf<T>::Degrees(180);

  // float gamma = acosf(d) * Rad2Deg;
  AngleOf<T> gamma = Acos(d);
  return gamma;
}

// template <>
// AngleOf<float> AngleOf<float>::SineRuleAngle(float a,
//                                              AngleOf<float> beta,
//                                              float b) {
//   float deg2rad = Deg2Rad;
//   float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b);
//   return alpha;
// }
template <typename T>
AngleOf<T> AngleOf<T>::SineRuleAngle(float a, AngleOf<T> beta, float b) {
  // float deg2rad = Deg2Rad;
  // float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b);
  AngleOf<T> alpha = Asin(a * Sin(beta) / b);
  return alpha;
}

template class AngleOf<float>;
template class AngleOf<signed char>;
template class AngleOf<signed short>;