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60 lines
1.2 KiB
C++
60 lines
1.2 KiB
C++
#pragma once
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//
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// FILE: AverageAngle.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.2.0
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// DATE: 2017-11-21
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// PURPOSE: class for averaging angles.
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#include "math.h"
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#include "Arduino.h"
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#define AVERAGE_ANGLE_LIB_VERSION (F("0.2.0"))
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#define GRAD_TO_RAD (PI / 200.0)
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#define RAD_TO_GRAD (200.0 / PI)
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#define AVERAGE_ANGLE_OK 0
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#define AVERAGE_ANGLE_OVERFLOW -10
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#define AVERAGE_ANGLE_SINGULARITY -20
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class AverageAngle
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{
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public:
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enum AngleType { DEGREES = 0, RADIANS = 1, GRADIANS = 2 };
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AverageAngle(const enum AngleType type = DEGREES);
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uint32_t add(float alpha, float length = 1.0);
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void reset();
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uint32_t count();
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// if there are no angles added (count == 0) or
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// if the sum == (0,0) there is a singularity ==> no angle. NAN
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float getAverage();
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// if count == 0 total length == 0.
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float getTotalLength();
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// if count == 0 average length == 0.
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float getAverageLength();
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AngleType type();
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bool setType(AngleType type);
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int lastError();
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private:
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AngleType _type;
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float _sumx;
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float _sumy;
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uint32_t _count;
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int _error;
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};
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// -- END OF FILE --
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