Repo created

libs/geometry/angles.cpp

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+#include "geometry/angles.hpp"
+
+namespace ang
+{
+double AngleIn2PI(double ang)
+{
+  double constexpr period = 2.0 * math::pi;
+  ang = fmod(ang, period);
+  if (ang < 0.0)
+    ang += period;
+
+  if (AlmostEqualULPs(period, ang))
+    return 0.0;
+
+  return ang;
+}
+
+double GetShortestDistance(double rad1, double rad2)
+{
+  double constexpr period = 2.0 * math::pi;
+  rad1 = fmod(rad1, period);
+  rad2 = fmod(rad2, period);
+
+  double res = rad2 - rad1;
+  if (fabs(res) > math::pi)
+  {
+    if (res < 0.0)
+      res = period + res;
+    else
+      res = -period + res;
+  }
+  return res;
+}
+
+double GetMiddleAngle(double a1, double a2)
+{
+  double ang = (a1 + a2) / 2.0;
+
+  if (fabs(a1 - a2) > math::pi)
+  {
+    if (ang > 0.0)
+      ang -= math::pi;
+    else
+      ang += math::pi;
+  }
+  return ang;
+}
+}  // namespace ang