mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-09-20 00:55:58 -04:00
86 lines
1.8 KiB
C++
86 lines
1.8 KiB
C++
//
|
|
// FILE: AverageAngle.cpp
|
|
// AUTHOR: Rob Tillaart
|
|
// VERSION: 0.1.7
|
|
// PURPOSE: class for averaging angles
|
|
// URL: https://github.com/RobTillaart/AverageAngle
|
|
//
|
|
// HISTORY:
|
|
// 0.1.0 2017-11-21 initial version
|
|
// 0.1.1 2017-12-09 fixed negative values of average
|
|
// 0.1.2 2018-03-30 added getAverageLength, getTotalLength + zero-test
|
|
// 0.1.3 2020-03-26 #pragma once; removed pre 1.00 support; readme.md
|
|
// 0.1.4 2020-05-27 update library.json
|
|
// 0.1.5 2020-12-12 added Arduino-CI, unit tests, minor refactor.
|
|
// 0.1.6 2021-10-18 update Arduino-CI, add GRADIANS
|
|
// 0.1.7 2021-12-13 update library.json, fix badges, license, readme
|
|
|
|
|
|
|
|
#include "AverageAngle.h"
|
|
|
|
|
|
AverageAngle::AverageAngle(const enum AngleType type)
|
|
{
|
|
_type = type;
|
|
reset();
|
|
}
|
|
|
|
|
|
uint32_t AverageAngle::add(float alpha, float length)
|
|
{
|
|
if (_type == AverageAngle::DEGREES )
|
|
{
|
|
alpha *= DEG_TO_RAD; // (PI / 180.0);
|
|
}
|
|
else if (_type == AverageAngle::GRADIANS )
|
|
{
|
|
alpha *= GRAD_TO_RAD; // (PI / 200.0);
|
|
}
|
|
_sumx += (cos(alpha) * length);
|
|
_sumy += (sin(alpha) * length);
|
|
_count++;
|
|
return _count;
|
|
}
|
|
|
|
|
|
void AverageAngle::reset()
|
|
{
|
|
_sumx = 0;
|
|
_sumy = 0;
|
|
_count = 0;
|
|
}
|
|
|
|
|
|
float AverageAngle::getAverage()
|
|
{
|
|
float angle = atan2(_sumy, _sumx);
|
|
if (angle < 0) angle += TWO_PI; // (PI * 2);
|
|
if (_type == AverageAngle::DEGREES )
|
|
{
|
|
angle *= RAD_TO_DEG; // (180.0 / PI);
|
|
}
|
|
else if (_type == AverageAngle::GRADIANS )
|
|
{
|
|
angle *= RAD_TO_GRAD; // (200.0 / PI);
|
|
}
|
|
return angle;
|
|
}
|
|
|
|
|
|
float AverageAngle::getTotalLength()
|
|
{
|
|
if (_count == 0) return 0;
|
|
return hypot(_sumy, _sumx);
|
|
}
|
|
|
|
|
|
float AverageAngle::getAverageLength()
|
|
{
|
|
if (_count == 0) return 0;
|
|
return hypot(_sumy, _sumx) / _count;
|
|
}
|
|
|
|
|
|
// -- END OF FILE --
|