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28 a =
static_cast<T
>(fmod(a,
static_cast<T
>(2.0 *
M_PI)));
29 if (was_neg) a +=
static_cast<T
>(2.0 *
M_PI);
70 template <
class VECTOR>
73 const size_t N = x.size();
74 for (
size_t i = 0; i < N; i++)
78 double Ap = x[i] - x[i - 1];
T angDistance(T from, T to)
Computes the shortest angular increment (or distance) between two planar orientations,...
T wrapTo2Pi(T a)
Modifies the given angle to translate it into the [0,2pi[ range.
void wrapToPiInPlace(T &a)
Modifies the given angle to translate it into the ]-pi,pi] range.
T wrapToPi(T a)
Modifies the given angle to translate it into the ]-pi,pi] range.
void wrapTo2PiInPlace(T &a)
Modifies the given angle to translate it into the [0,2pi[ range.
This base provides a set of functions for maths stuff.
void unwrap2PiSequence(VECTOR &x)
Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolut...
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