KNI_MHF Namespace Reference

Classes
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_precalc_cos
struct	unary_rad2deg
	a function-object version of rad2deg More...
struct	unary_deg2rad
	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
template<typename _T >
_T	deg2rad (const _T a)
	conversion from degree to radian
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.
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
double	findFirstEqualAngle (double cosValue, double sinValue, double tolerance)
	Find the first equal angle.

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Function Documentation

template<typename _T >

_T KNI_MHF::acotan

(

const _T

in

)

[inline]

Definition at line 77 of file MathHelperFunctions.h.

References M_PI.

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().

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.

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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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()().

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.

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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template<typename _T >

_T KNI_MHF::pow2

(

const _T

in

)

[inline]

Definition at line 92 of file MathHelperFunctions.h.

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()().

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.

template<typename _T >

short KNI_MHF::sign

(

_T

x

)

[inline]

Definition at line 37 of file MathHelperFunctions.h.

Referenced by atan1().