core/com.asiankoala.koawalib.math

Package com.asiankoala.koawalib.math

Types

data class Pose @JvmOverloads constructor( val x: Double = 0.0, val y: Double = 0.0, val heading: Double = 0.0)

Represents robot's position and heading

data class Vector @JvmOverloads constructor(val x: Double = 0.0, val y: Double = 0.0)

Represents 2D Vectors

Properties

val Double.angleWrap: Double

Wrap an angle within -pi,pi

val Int.d: Double

val Float.d: Double

val Double.degrees: Double

const val EPSILON: Double = 1.0E-6

val Double.radians: Double

const val TAU: Double

Functions

fun clamp( x: Double, a: Double, b: Double): Double

Clamps an input value within a,b

infix fun Double.epsilonEquals(other: Double): Boolean

epsilonNotEqual

infix fun Double.epsilonNotEqual(other: Double): Boolean

fun nonZeroSign(x: Double): Double