Class AngleOp
Defined in File rrt.hpp
Class Documentation
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class AngleOp
Class to perform operations with angles. The angles are in radians and in the range [-pi, pi).
Public Static Functions
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static inline float normalize_angle(float angle)
Normalize an angle to the range [-pi, pi).
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static inline float angle_diff(float a, float b)
Computes
b - ain the range [-pi, pi).
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static inline float bisect_angle(float a, float b)
Finds the angle bisector between two angles. The inputs can be given in any order and they don’t need to be normalized. The output is normalized.
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static inline float weighted_circular_mean(const std::vector<float> &angles, const std::vector<float> &weights)
Computes the weighted circular mean of a set of angles, given their respective weights. The inputs don’t need to be normalized. The output is in the range [-pi, pi).
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static inline float cos_angle_diff(float a, float b)
Computes the cosine of the angle difference between two angles. The inputs don’t need to be normalized. The order of the angles doesn’t matter, since
cos(a - b) = cos(b - a).
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static inline float normalize_angle(float angle)