KNI_MHF Namespace Reference

Classes
struct	unary_deg2rad
	a function-object version of rad2deg More...
struct	unary_precalc_cos
struct	unary_precalc_sin
	function-object which calculates sinus for n-elements of a container if used together with a STL algorithm More...
struct	unary_rad2deg
	a function-object version of rad2deg More...

Functions
template<typename _T >
short	sign (_T x)
template<typename _T >
_T	atan1 (_T in1, _T in2)
template<typename _T >
_T	acotan (const _T in)
template<typename _T >
_T	atan0 (const _T in1, const _T in2)
template<typename _T >
_T	pow2 (const _T in)
template<typename _T >
_T	rad2deg (const _T a)
	conversion from radian to degree More...
template<typename _T >
_T	deg2rad (const _T a)
	conversion from degree to radian More...
template<typename _T >
_T	anglereduce (const _T a)
template<typename _angleT , typename _encT >
_encT	rad2enc (_angleT const &angle, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)
	converts absolute angles in radian to encoders. More...
template<typename _angleT , typename _encT >
_angleT	enc2rad (_encT const &enc, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)
	converts encoders to absolute angles in radian More...
double	findFirstEqualAngle (double cosValue, double sinValue, double tolerance)
	Find the first equal angle. More...

Function Documentation

acotan()

template<typename _T >

_T KNI_MHF::acotan ( const _T  in )

inline

Definition at line 77 of file MathHelperFunctions.h.

References M_PI.

anglereduce()

template<typename _T >

_T KNI_MHF::anglereduce ( const _T  a )

inline

Definition at line 126 of file MathHelperFunctions.h.

References M_PI.

Referenced by findFirstEqualAngle().

atan0()

template<typename _T >

_T KNI_MHF::atan0 ( const _T  in1, const _T  in2  )

inline

Definition at line 85 of file MathHelperFunctions.h.

References M_PI.

atan1()

template<typename _T >

_T KNI_MHF::atan1 ( _T  in1, _T  in2  )

inline

Definition at line 62 of file MathHelperFunctions.h.

References M_PI, and sign().

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deg2rad()

template<typename _T >

_T KNI_MHF::deg2rad ( const _T  a )

inline

conversion from degree to radian

Definition at line 114 of file MathHelperFunctions.h.

References M_PI.

Referenced by KNI_MHF::unary_deg2rad< _T >::operator()().

enc2rad()

template<typename _angleT , typename _encT >

_angleT KNI_MHF::enc2rad ( _encT const &  enc, _angleT const &  angleOffset, _encT const &  epc, _encT const &  encOffset, _encT const &  rotDir  )

inline

converts encoders to absolute angles in radian

Definition at line 148 of file MathHelperFunctions.h.

References M_PI.

findFirstEqualAngle()

double KNI_MHF::findFirstEqualAngle ( double  cosValue, double  sinValue, double  tolerance  )

inline

Find the first equal angle.

You have to pass a cos and a sin Value

Definition at line 157 of file MathHelperFunctions.h.

References anglereduce(), and M_PI.

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pow2()

template<typename _T >

_T KNI_MHF::pow2 ( const _T  in )

inline

Definition at line 92 of file MathHelperFunctions.h.

rad2deg()

template<typename _T >

_T KNI_MHF::rad2deg ( const _T  a )

inline

conversion from radian to degree

Definition at line 100 of file MathHelperFunctions.h.

References M_PI.

Referenced by KNI_MHF::unary_rad2deg< _T >::operator()().

rad2enc()

template<typename _angleT , typename _encT >

_encT KNI_MHF::rad2enc ( _angleT const &  angle, _angleT const &  angleOffset, _encT const &  epc, _encT const &  encOffset, _encT const &  rotDir  )

inline

converts absolute angles in radian to encoders.

Definition at line 134 of file MathHelperFunctions.h.

References M_PI.

sign()

template<typename _T >

short KNI_MHF::sign ( _T  x )

inline

Definition at line 37 of file MathHelperFunctions.h.

Referenced by atan1().