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java.lang.Objectus.ihmc.utilities.math.geometry.AngleTools
public class AngleTools
Field Summary | |
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static double |
EPSILON
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static double |
PI
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static double |
TwoPI
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Method Summary | |
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static double |
angleMinusPiToPi(javax.vecmath.Vector2d startVector,
javax.vecmath.Vector2d endVector)
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static double |
computeAngleAverage(double angleA,
double angleB)
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static double |
computeAngleDifferenceMinusPiToPi(double angleA,
double angleB)
computeAngleDifferenceMinusPiToPi: returns (angleA - angleB), where the return value is [-pi, pi) |
static double |
computeAngleDifferenceMinusTwoPiToZero(double angleA,
double angleB)
computeAngleDifferenceMinusPiToPi: returns (angleA - angleB), where the return value is [-2.0*pi, 0.0) |
static int |
findClosestNinetyDegreeYaw(double yawInRadians)
Finds the closest 90 degree yaw and returns number of 90 degrees (0 = 0; 1 = 90; 2 = 180; 3 = 270). |
static double |
generateRandomAngle(java.util.Random random)
Returns an evenly distributed random number between -2PI and 2PI |
static double |
shiftAngleToStartOfRange(double angleToShift,
double startOfAngleRange)
This will shift an angle to be in the range [startOfAngleRange, (startOfAngleRange + 2*pi) |
static double |
trimAngleMinusPiToPi(double angle)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public static final double PI
public static final double TwoPI
public static final double EPSILON
Method Detail |
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public static double trimAngleMinusPiToPi(double angle)
public static double angleMinusPiToPi(javax.vecmath.Vector2d startVector, javax.vecmath.Vector2d endVector)
public static double computeAngleAverage(double angleA, double angleB)
public static int findClosestNinetyDegreeYaw(double yawInRadians)
yawInRadians
- double
public static double computeAngleDifferenceMinusPiToPi(double angleA, double angleB)
angleA
- doubleangleB
- double
public static double computeAngleDifferenceMinusTwoPiToZero(double angleA, double angleB)
angleA
- doubleangleB
- double
public static double shiftAngleToStartOfRange(double angleToShift, double startOfAngleRange)
angleToShift
- the angle to shiftstartOfAngleRange
- start of the range.
public static double generateRandomAngle(java.util.Random random)
random
- Random number generator
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