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authorJean Fabre-Monplaisir <jean-isaac-fm@live.fr>2015-02-01 23:30:18 +0100
committerJean Fabre-Monplaisir <jean-isaac-fm@live.fr>2015-02-01 23:30:18 +0100
commitc119262d3e0d4a706efcd4a68bbe5f8102826fcf (patch)
tree0b252096e88ba3a27c335ae8fee413717f4605fc /geom.hpp
parent499d8b00d8017a32ae31deafc88416c452b48c8c (diff)
downloadRobotique-Projet-c119262d3e0d4a706efcd4a68bbe5f8102826fcf.tar.gz
Robotique-Projet-c119262d3e0d4a706efcd4a68bbe5f8102826fcf.zip
Formatting
Diffstat (limited to 'geom.hpp')
-rw-r--r--geom.hpp36
1 files changed, 18 insertions, 18 deletions
diff --git a/geom.hpp b/geom.hpp
index 27b3de5..aecc822 100644
--- a/geom.hpp
+++ b/geom.hpp
@@ -14,9 +14,9 @@ inline double frand(double a, double b) {
}
inline double canon_angle(double ref, double move_it){
- while (ref>move_it) move_it += 2*M_PI;
- while (move_it >= ref + 2*M_PI) move_it -= 2*M_PI;
- return move_it ;
+ while (ref>move_it) move_it += 2*M_PI;
+ while (move_it >= ref + 2*M_PI) move_it -= 2*M_PI;
+ return move_it ;
}
struct vec {
@@ -195,20 +195,20 @@ struct angular_sector {
assert(i.c.c == o.c.c);
assert(i.theta1 == o.theta1);
assert(i.theta2 == o.theta2);
-
- }
- bool is_in_sector(vec p) const{
- if(inner.is_in_pie(p) && (p-inner.c.c).norm() <=outer.c.r && inner.c.r <=(p-inner.c.c).norm())return true;
- return false;
- }
-
- double dist(vec p) const{
- if (is_in_sector(p)) return 0;
- return std::min(std::min(std::min(inner.dist(p),outer.dist(p)),
- segment(vec::from_polar(inner.c.r,inner.theta1)+inner.c.c,
- vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)),
- segment(vec::from_polar(inner.c.r,inner.theta2)+inner.c.c,
- vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)) ;
- }
+
+ }
+ bool is_in_sector(vec p) const{
+ if(inner.is_in_pie(p) && (p-inner.c.c).norm() <=outer.c.r && inner.c.r <=(p-inner.c.c).norm())return true;
+ return false;
+ }
+
+ double dist(vec p) const{
+ if (is_in_sector(p)) return 0;
+ return std::min(std::min(std::min(inner.dist(p),outer.dist(p)),
+ segment(vec::from_polar(inner.c.r,inner.theta1)+inner.c.c,
+ vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)),
+ segment(vec::from_polar(inner.c.r,inner.theta2)+inner.c.c,
+ vec::from_polar(outer.c.r,inner.theta2)+inner.c.c).dist(p)) ;
+ }
};
/* vim: set ts=4 sw=4 tw=0 noet :*/