/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. * *  This file is created by: Ahmad Boorghany * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <cmath>#include <Degree.h>#include <Defines.h>// namespace Degreenamespace Degree{	float sin(float direction)	{		return ::sin(direction * DEG2RAD);	}	float cos(float direction)	{		return ::cos(direction * DEG2RAD);	}	float tan(float direction)	{		return ::tan(direction * DEG2RAD);	}	float cot(float direction)	{		return 1 / ::tan(direction * DEG2RAD);	}	float arcSin(float value)	{		return ::asin(value) * RAD2DEG;	}	float arcCos(float value)	{		return ::acos(value) * RAD2DEG;	}	float arcTan(float value)	{		return ::atan(value) * RAD2DEG;	}	float arcCot(float value)	{		return ::atan(1 / value) * RAD2DEG;	}	float arcTan2(float y, float x)	{		return ::atan2(y,x) * RAD2DEG;	}	float arcCot2(float y, float x)	{		return arcTan2(y,x); // Reversing arguments because of Cot.	}	float normalizeAngle(float angle)	{		while (angle < -180) angle += 360;		while (angle > 180) angle -= 360;		return angle;	}		float absoluteAngle(float angle)	{		while (angle < 0) angle += 360;		while (angle >= 360) angle -= 360;		return angle;	}	bool isBetween(float angle1, float angle2, float checkAngle)	{		angle1 = absoluteAngle(angle1);		angle2 = absoluteAngle(angle2);		checkAngle = absoluteAngle(checkAngle);		if (angle1 == angle2)		{			if (checkAngle == angle1)				return true;			else				return false;		}		else if (angle1 < angle2)		{			if (checkAngle >= angle1 && checkAngle <= angle2)				return true;			else				return false;		}		else		{			if (checkAngle <= angle2 || checkAngle >= angle1)				return true;			else				return false;		}	}	float getDeltaAngle(float angle1,float angle2)	{		angle1 = absoluteAngle(angle1);		angle2 = absoluteAngle(angle2);		return normalizeAngle(angle1 - angle2);	}}