mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
131 lines
2.1 KiB
C++
131 lines
2.1 KiB
C++
//
|
|
// FILE: AverageAngle.cpp
|
|
// AUTHOR: Rob Tillaart
|
|
// VERSION: 0.2.1
|
|
// DATE: 2017-11-21
|
|
// PURPOSE: Arduino library to calculate correctly the average of multiple angles.
|
|
// URL: https://github.com/RobTillaart/AverageAngle
|
|
|
|
|
|
#include "AverageAngle.h"
|
|
|
|
|
|
const float AA_OVERFLOW_THRESHOLD = 10000;
|
|
|
|
|
|
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);
|
|
}
|
|
float dx = cos(alpha);
|
|
float dy = sin(alpha);
|
|
if (length != 1.0)
|
|
{
|
|
dx *= length;
|
|
dy *= length;
|
|
}
|
|
_sumx += dx;
|
|
_sumy += dy;
|
|
_error = AVERAGE_ANGLE_OK;
|
|
if ((abs(_sumx) > AA_OVERFLOW_THRESHOLD) || (abs(_sumy) > AA_OVERFLOW_THRESHOLD))
|
|
{
|
|
_error = AVERAGE_ANGLE_OVERFLOW;
|
|
}
|
|
_count++;
|
|
return _count;
|
|
}
|
|
|
|
|
|
void AverageAngle::reset()
|
|
{
|
|
_sumx = 0;
|
|
_sumy = 0;
|
|
_count = 0;
|
|
_error = AVERAGE_ANGLE_OK;
|
|
}
|
|
|
|
|
|
uint32_t AverageAngle::count()
|
|
{
|
|
return _count;
|
|
}
|
|
|
|
|
|
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);
|
|
}
|
|
|
|
// error reporting
|
|
if (isnan(angle))
|
|
{
|
|
_error = AVERAGE_ANGLE_SINGULARITY;
|
|
}
|
|
else
|
|
{
|
|
_error = AVERAGE_ANGLE_OK;
|
|
}
|
|
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;
|
|
}
|
|
|
|
|
|
AverageAngle::AngleType AverageAngle::type()
|
|
{
|
|
return _type;
|
|
}
|
|
|
|
|
|
bool AverageAngle::setType(const enum AngleType type)
|
|
{
|
|
if (type > GRADIANS) return false;
|
|
_type = type;
|
|
return true;
|
|
}
|
|
|
|
|
|
int AverageAngle::lastError()
|
|
{
|
|
int e = _error;
|
|
_error = AVERAGE_ANGLE_OK;
|
|
return e;
|
|
}
|
|
|
|
|
|
// -- END OF FILE --
|
|
|