Package georegression.metric

Class UtilAngle

java.lang.Object
georegression.metric.UtilAngle
public class UtilAngle extends Object
Utility functions relating to angles. Unless otherwise state all angles are in radians and have a domain of -pi to pi

  • Constructor Summary

    Constructors
    Constructor
    Description
    UtilAngle()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static double
    atanSafe(double y, double x)
     
    static float
    atanSafe(float y, float x)
     
    static double
    average(double a, double b)
    Computes the average of the two angles.
    static float
    average(float a, float b)
    Computes the average of the two angles.
    static double
    bound(double ang)
    Returns an angle which is equivalent to the one provided, but between (inclusive) -π and π.
    static float
    bound(float ang)
    Returns an angle which is equivalent to the one provided, but between (inclusive) -π and π.
    static double
    boundHalf(double angle)
    Bounds the angle between -π/2 and π/2
    static float
    boundHalf(float angle)
    Bounds the angle between -π/2 and π/2
    static double
    degree(double angleRad)
    Converts degrees into radians
    static float
    degree(float angleRad)
    Converts degrees into radians
    static double
    degreeToRadian(double angleDegree)
     
    static float
    degreeToRadian(float angleDegree)
     
    static double
    dist(double angA, double angB)
    Returns the number of radians two angles are apart.
    static float
    dist(float angA, float angB)
    Returns the number of radians two angles are apart.
    static double
    dist_u(double angA, double angB)
    Returns the number of radians two angles are apart.
    static float
    dist_u(float angA, float angB)
    Returns the number of radians two angles are apart.
    static double
    distanceCCW(double angA, double angB)
    Angular distance in radians to go from angA to angB in counter clock-wise direction.
    static float
    distanceCCW(float angA, float angB)
    Angular distance in radians to go from angA to angB in counter clock-wise direction.
    static double
    distanceCCW_u(double angA, double angB)
    Angular distance in radians to go from angA to angB in counter clock-wise direction.
    static float
    distanceCCW_u(float angA, float angB)
    Angular distance in radians to go from angA to angB in counter clock-wise direction.
    static double
    distanceCW(double angA, double angB)
    Angular distance in radians to go from angA to angB in clock-wise direction.
    static float
    distanceCW(float angA, float angB)
    Angular distance in radians to go from angA to angB in clock-wise direction.
    static double
    distanceCW_u(double angA, double angB)
    Angular distance in radians to go from angA to angB in clock-wise direction.
    static float
    distanceCW_u(float angA, float angB)
    Angular distance in radians to go from angA to angB in clock-wise direction.
    static double
    distHalf(double angA, double angB)
    Angular distance between two half circle angles.
    static double
    domain2PI(double angle)
    Converts an angle from -pi to pi into 0 to 2*pi domain
    static boolean
    isHalfDomain(double ang)
    Checks to see if it is between -π/2 and π/2.
    static boolean
    isStandardDomain(double ang)
    Checks to see if it is between -π and π.
    static double
    minus(double angA, double angB)
    Returns the difference between two angles and bounds the result between -pi and pi:
    result = angA - angB
    and takes in account boundary conditions.
    static float
    minus(float angA, float angB)
    Returns the difference between two angles and bounds the result between -pi and pi:
    result = angA - angB
    and takes in account boundary conditions.
    static double
    radian(double angleDegree)
    Converts radians into degrees
    static float
    radian(float angleDegree)
    Converts radians into degrees
    static double
    radianToDegree(double angleRad)
     
    static float
    radianToDegree(float angleRad)
     
    static double
    reflectZeroToOne(double value)
    Ensures a reflective bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is inclusive.
    static float
    reflectZeroToOne(float value)
    Ensures a reflective bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is inclusive.
    static double
    toHalfCircle(double angle)
    Converts an angle which is (-pi to pi) into a half circle angle (-pi/2 to pi/2).
    static float
    toHalfCircle(float angle)
    Converts an angle which is (-pi to pi) into a half circle angle (0 to pi).
    static double
    wrapZeroToOne(double value)
    Ensures a wrapping circular bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is exclusive.
    static float
    wrapZeroToOne(float value)
    Ensures a wrapping circular bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is exclusive.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • UtilAngle

      public UtilAngle()

  • Method Details

    • radianToDegree

      public static double radianToDegree(double angleRad)

    • degreeToRadian

      public static double degreeToRadian(double angleDegree)

    • radianToDegree

      public static float radianToDegree(float angleRad)

    • degreeToRadian

      public static float degreeToRadian(float angleDegree)

    • radian

      public static double radian(double angleDegree)
      Converts radians into degrees
      Parameters:
      angleDegree - angle in degrees
      Returns:
      angle in radians

    • degree

      public static double degree(double angleRad)
      Converts degrees into radians
      Parameters:
      angleRad - angle in radians
      Returns:
      angle in degrees

    • radian

      public static float radian(float angleDegree)
      Converts radians into degrees
      Parameters:
      angleDegree - angle in degrees
      Returns:
      angle in radians

    • degree

      public static float degree(float angleRad)
      Converts degrees into radians
      Parameters:
      angleRad - angle in radians
      Returns:
      angle in degrees

    • atanSafe

      public static double atanSafe(double y, double x)

    • atanSafe

      public static float atanSafe(float y, float x)

    • average

      public static double average(double a, double b)
      Computes the average of the two angles. This only works well and is a well defined problem when the two angles are close. It operates by determining of the angles are closer in CW or CCW directions. The distance in that direction is found then 1/2 the distance is added to one of them and returned.
      Parameters:
      a - Angle in radians.
      b - Angle in radians.
      Returns:
      Average angle of the two. a + delta.

    • average

      public static float average(float a, float b)
      Computes the average of the two angles. This only works well and is a well defined problem when the two angles are close. It operates by determining of the angles are closer in CW or CCW directions. The distance in that direction is found then 1/2 the distance is added to one of them and returned.
      Parameters:
      a - Angle in radians.
      b - Angle in radians.
      Returns:
      Average angle of the two. a + delta.

    • toHalfCircle

      public static double toHalfCircle(double angle)
      Converts an angle which is (-pi to pi) into a half circle angle (-pi/2 to pi/2).
      Parameters:
      angle - Angle between -pi and pi.
      Returns:
      -pi/2 to pi/2

    • toHalfCircle

      public static float toHalfCircle(float angle)
      Converts an angle which is (-pi to pi) into a half circle angle (0 to pi).
      Parameters:
      angle - Angle between -pi and pi.
      Returns:
      0 to pi

    • isStandardDomain

      public static boolean isStandardDomain(double ang)
      Checks to see if it is between -π and π.
      Parameters:
      ang - Angle being tested
      Returns:
      true if it is between -π and π

    • isHalfDomain

      public static boolean isHalfDomain(double ang)
      Checks to see if it is between -π/2 and π/2.
      Parameters:
      ang - Angle being tested
      Returns:
      true if it is between -π/2 and π/2;

    • bound

      public static double bound(double ang)
      Returns an angle which is equivalent to the one provided, but between (inclusive) -π and π.

    • bound

      public static float bound(float ang)
      Returns an angle which is equivalent to the one provided, but between (inclusive) -π and π.

    • boundHalf

      public static double boundHalf(double angle)
      Bounds the angle between -π/2 and π/2
      Parameters:
      angle - angle in radians
      Returns:
      bounded angle

    • boundHalf

      public static float boundHalf(float angle)
      Bounds the angle between -π/2 and π/2
      Parameters:
      angle - angle in radians
      Returns:
      bounded angle

    • distanceCCW

      public static double distanceCCW(double angA, double angB)
      Angular distance in radians to go from angA to angB in counter clock-wise direction. The resulting angle will be from 0 to 2π.
      Parameters:
      angA - First angle. -pi to pi Radians.
      angB - Second angle -pi to pi Radians.
      Returns:
      An angle from 0 to 2 π

    • distanceCCW_u

      public static double distanceCCW_u(double angA, double angB)
      Angular distance in radians to go from angA to angB in counter clock-wise direction. The resulting angle will be from 0 to 2π. Input is unbounded
      Parameters:
      angA - First angle. Radians.
      angB - Second angle Radians.
      Returns:
      An angle from 0 to 2 π

    • distanceCCW

      public static float distanceCCW(float angA, float angB)
      Angular distance in radians to go from angA to angB in counter clock-wise direction. The resulting angle will be from 0 to 2π.
      Parameters:
      angA - First angle. -pi to pi Radians.
      angB - Second angle -pi to pi Radians.
      Returns:
      An angle from 0 to 2 π

    • distanceCCW_u

      public static float distanceCCW_u(float angA, float angB)
      Angular distance in radians to go from angA to angB in counter clock-wise direction. The resulting angle will be from 0 to 2π. Input is unbounded
      Parameters:
      angA - First angle. Radians.
      angB - Second angle Radians.
      Returns:
      An angle from 0 to 2 π

    • distanceCW

      public static double distanceCW(double angA, double angB)
      Angular distance in radians to go from angA to angB in clock-wise direction. The resulting angle will be from 0 to 2π.
      Parameters:
      angA - First angle. -pi to pi Radians.
      angB - Second angle -pi to pi Radians.
      Returns:
      An angle from 0 to 2 π

    • distanceCW_u

      public static double distanceCW_u(double angA, double angB)
      Angular distance in radians to go from angA to angB in clock-wise direction. The resulting angle will be from 0 to 2π. Input is unbounded.
      Parameters:
      angA - First angle. Radians.
      angB - Second angle. Radians.
      Returns:
      An angle from 0 to 2 π

    • distanceCW

      public static float distanceCW(float angA, float angB)
      Angular distance in radians to go from angA to angB in clock-wise direction. The resulting angle will be from 0 to 2π.
      Parameters:
      angA - First angle. -pi to pi
      angB - Second angle -pi to pi
      Returns:
      An angle from 0 to 2 π

    • distanceCW_u

      public static float distanceCW_u(float angA, float angB)
      Angular distance in radians to go from angA to angB in clock-wise direction. The resulting angle will be from 0 to 2π. Input is unbounded.
      Parameters:
      angA - First angle. Radians.
      angB - Second angle. Radians.
      Returns:
      An angle from 0 to 2 π

    • minus

      public static double minus(double angA, double angB)

      Returns the difference between two angles and bounds the result between -pi and pi:
      result = angA - angB
      and takes in account boundary conditions.

      Parameters:
      angA - first angle. Must be between -pi and pi.
      angB - second angle. Must be between -pi and pi.
      Returns:
      an angle between -pi and pi

    • minus

      public static float minus(float angA, float angB)

      Returns the difference between two angles and bounds the result between -pi and pi:
      result = angA - angB
      and takes in account boundary conditions.

      Parameters:
      angA - first angle. Must be between -pi and pi.
      angB - second angle. Must be between -pi and pi.
      Returns:
      an angle between -pi and pi

    • dist

      public static double dist(double angA, double angB)

      Returns the number of radians two angles are apart. This is equivalent to Math.abs(UtilAngle.minus(angA,angB)).

      Parameters:
      angA - first angle. Must be between -pi and pi.
      angB - second angle. Must be between -pi and pi.
      Returns:
      an angle between 0 and pi

    • dist_u

      public static double dist_u(double angA, double angB)

      Returns the number of radians two angles are apart. This is equivalent to Math.abs(UtilAngle.minus(angA,angB)). Unbounded input.

      Parameters:
      angA - first angle. Radians.
      angB - second angle. Radians.
      Returns:
      an angle between 0 and pi

    • dist

      public static float dist(float angA, float angB)

      Returns the number of radians two angles are apart. This is equivalent to Math.abs(UtilAngle.minus(angA,angB)).

      Parameters:
      angA - first angle. Must be between -pi and pi.
      angB - second angle. Must be between -pi and pi.
      Returns:
      an angle between 0 and pi

    • dist_u

      public static float dist_u(float angA, float angB)

      Returns the number of radians two angles are apart. This is equivalent to Math.abs(UtilAngle.minus(angA,angB)). Unbounded input.

      Parameters:
      angA - first angle. Radians.
      angB - second angle. Radians.
      Returns:
      an angle between 0 and pi

    • distHalf

      public static double distHalf(double angA, double angB)
      Angular distance between two half circle angles.
      Parameters:
      angA - Angle between -pi/2 and pi/2.
      angB - Angle between -pi/2 and pi/2.
      Returns:
      Acute angle between the two input angles.

    • domain2PI

      public static double domain2PI(double angle)
      Converts an angle from -pi to pi into 0 to 2*pi domain
      Parameters:
      angle - angle from -pi to pi radians
      Returns:
      angle from 0 to 2*pi radians

    • wrapZeroToOne

      public static double wrapZeroToOne(double value)
      Ensures a wrapping circular bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is exclusive. 
      Examples:
 1.5   = 0.5
 -0.25 = 0.75
 0     = 0
 1     = 0
 0.999 = 0.999
 2     = 0
 -1    = 0
      Returns:
      A value from 0 to 1. [0,1)

    • wrapZeroToOne

      public static float wrapZeroToOne(float value)
      Ensures a wrapping circular bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is exclusive. 
      Examples:
 1.5   = 0.5
 -0.25 = 0.75
 0     = 0
 1     = 0
 0.999 = 0.999
 2     = 0
 -1    = 0
      Returns:
      A value from 0 to 1. [0,1)

    • reflectZeroToOne

      public static double reflectZeroToOne(double value)
      Ensures a reflective bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is inclusive. 
      Examples:
 1.5   = 0.5
 -0.25 = 0.25
 -0.75 = 0.75
 0     = 0
 1     = 1
 0.999 = 0.999
 2     = 0
 -1    = 1
      Returns:
      A value from 0 to 1. [0,1]

    • reflectZeroToOne

      public static float reflectZeroToOne(float value)
      Ensures a reflective bound so that the numbers from 0 to 1, where 0 is inclusive and 1 is inclusive. 
      Examples:
 1.5   = 0.5
 -0.25 = 0.25
 -0.75 = 0.75
 0     = 0
 1     = 1
 0.999 = 0.999
 2     = 0
 -1    = 1
      Returns:
      A value from 0 to 1. [0,1]