24 #ifndef __UTILS_MATH_COORD_H_ 25 #define __UTILS_MATH_COORD_H_ 40 float *polar_phi,
float *polar_dist)
42 *polar_phi = atan2f(cart_y, cart_x);
43 *polar_dist = sqrtf(cart_x * cart_x + cart_y * cart_y);
56 float& polar_phi,
float& polar_theta,
float& polar_r)
58 polar_r = sqrtf( cart_x*cart_x + cart_y*cart_y + cart_z*cart_z );
59 polar_phi = atan2f( cart_y, cart_x );
60 polar_theta = -1.0 * atan2f( cart_z, sqrtf( cart_x*cart_x + cart_y*cart_y ) );
71 float *cart_x,
float *cart_y)
73 *cart_x = polar_dist * cosf(polar_phi);
74 *cart_y = polar_dist * sinf(polar_phi);
void polar2cart2d(float polar_phi, float polar_dist, float *cart_x, float *cart_y)
Convert a 2D polar coordinate to a 2D cartesian coordinate.
Fawkes library namespace.
void cart2polar2d(float cart_x, float cart_y, float *polar_phi, float *polar_dist)
Convert a 2D cartesian coordinate to a 2D polar coordinate.
void cart2polar3d(float cart_x, float cart_y, float cart_z, float &polar_phi, float &polar_theta, float &polar_r)
Convert a 3D cartesian coordinate (x, y, z) to a 3D polar coordinate.