ChaseAngle Struct Reference

#include "MotionMaster.h"

Public Member Functions
	ChaseAngle (float angle, float _tolerance=M_PI_4)
float	UpperBound () const
float	LowerBound () const
bool	IsAngleOkay (float relativeAngle) const

Public Attributes
float	RelativeAngle
float	Tolerance

Detailed Description

Constructor & Destructor Documentation

ChaseAngle()

ChaseAngle::ChaseAngle	(	float	angle,
		float	_tolerance = M_PI_4
	)

: RelativeAngle(Position::NormalizeOrientation(angle)), Tolerance(_tolerance) { }

Member Function Documentation

IsAngleOkay()

bool ChaseAngle::IsAngleOkay

(

float

relativeAngle

)

const

{
    float const diff = std::abs(relativeAngle - RelativeAngle);
 
    return (std::min(diff, float(2 * M_PI) - diff) <= Tolerance);
}

References RelativeAngle, and Tolerance.

LowerBound()

float ChaseAngle::LowerBound

(

)

const

{
    return Position::NormalizeOrientation(RelativeAngle - Tolerance);
}

References Position::NormalizeOrientation(), RelativeAngle, and Tolerance.

UpperBound()

float ChaseAngle::UpperBound

(

)

const

{
    return Position::NormalizeOrientation(RelativeAngle + Tolerance);
}

References Position::NormalizeOrientation(), RelativeAngle, and Tolerance.

Member Data Documentation

RelativeAngle

float ChaseAngle::RelativeAngle

Referenced by IsAngleOkay(), LowerBound(), and UpperBound().

Tolerance

float ChaseAngle::Tolerance

Referenced by IsAngleOkay(), LowerBound(), and UpperBound().