ROS 两角最小距离

源码来自于: /opt/ros/kinetic/angles/angles.h

 

函数一:

/*!
   * \function
   * \brief shortest_angular_distance
   *
   * Given 2 angles, this returns the shortest angular
   * difference.  The inputs and ouputs are of course radians.
   *
   * The result
   * would always be -pi <= result <= pi.  Adding the result
   * to "from" will always get you an equivelent angle to "to".
   */

  static inline double shortest_angular_distance(double from, double to)
  {
    return normalize_angle(to-from);
  }

函数二:

  /*!
   * \brief normalize
   *
   * Normalizes the angle to be -M_PI circle to +M_PI circle
   * It takes and returns radians.
   *
   */
  static inline double normalize_angle(double angle)
  {
    double a = normalize_angle_positive(angle);
    if (a > M_PI)
      a -= 2.0 *M_PI;
    return a;
  }

函数三:

  /*!
   * \brief normalize_angle_positive
   *
   *        Normalizes the angle to be 0 to 2*M_PI
   *        It takes and returns radians.
   */
  static inline double normalize_angle_positive(double angle)
  {
    return fmod(fmod(angle, 2.0*M_PI) + 2.0*M_PI, 2.0*M_PI);
  }