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AP_Math: add Vector2::angle

This commit is contained in:
Andrew Tridgell 2019-05-11 13:58:28 +09:00 committed by Randy Mackay
parent bc22aeb4da
commit 69781cda42
2 changed files with 10 additions and 0 deletions
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7
libraries/AP_Math/vector2.cpp
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@ -140,6 +140,12 @@ float Vector2<T>::angle(const Vector2<T> &v2) const
return acosf(cosv);
}
template <typename T>
float Vector2<T>::angle(void) const
{
return M_PI_2 + atan2f(-x, y);
}
// find the intersection between two line segments
// returns true if they intersect, false if they do not
// the point of intersection is returned in the intersection argument
@ -255,6 +261,7 @@ template bool Vector2<float>::operator !=(const Vector2<float> &v) const;
template bool Vector2<float>::is_nan(void) const;
template bool Vector2<float>::is_inf(void) const;
template float Vector2<float>::angle(const Vector2<float> &v) const;
template float Vector2<float>::angle(void) const;
template bool Vector2<float>::segment_intersection(const Vector2<float>& seg1_start, const Vector2<float>& seg1_end, const Vector2<float>& seg2_start, const Vector2<float>& seg2_end, Vector2<float>& intersection);
template bool Vector2<float>::circle_segment_intersection(const Vector2<float>& seg_start, const Vector2<float>& seg_end, const Vector2<float>& circle_center, float radius, Vector2<float>& intersection);

3
libraries/AP_Math/vector2.h
View File

@ -98,6 +98,9 @@ struct Vector2
// returns 0 if the vectors are parallel, and M_PI if they are antiparallel
float angle(const Vector2<T> &v2) const;
// computes the angle of this vector in radians, from -Pi to Pi
float angle(void) const;
// check if any elements are NAN
bool is_nan(void) const;