xl_math.h

仿真机器人足球比赛

#ifndef _XL_MATH_H_
#define _XL_MATH_H_
#include <math.h>
#include "xl_global.h"

typedef double AngDeg;
typedef double AngRad;

const double PI    = 3.14159265359;
const double PIx2 = PI*2.0;
const double PI_2 = PI/2.0;
const double PI_4 = PI/4.0;
const double RadPerDeg = PI/180.0;
const double DegPerRad = 180.0/PI;

//判断浮点数相同时的精度
#define EPSILON 0.00001

#ifndef Square
#define Square(a) ((a)*(a))
#endif

#ifndef Min
#define Min(a,b) (((a)<(b))?(a):(b))
#endif

#ifndef Max
#define Max(a,b) (((a)>(b))?(a):(b))
#endif


int    Sign    ( double d            );


/////////////////////////////////////////////////////////////////////
// 角度，三角函数相关的函数
////////////////////////////////////////////////////////////////////
AngDeg RadToDeg( AngRad x             );
AngRad DegToRad( AngDeg x             );
double CosDeg  ( AngDeg x             );
double SinDeg  ( AngDeg x             );
double TanDeg  ( AngDeg x             );
AngDeg AtanDeg ( double x             );
double Atan2Deg( double x,  double y  );
AngDeg AcosDeg ( double x             );
AngDeg AsinDeg ( double x             );

const AngDeg NormalizeAngle_360 (AngDeg  &ang);
const AngRad NormalizeRadian_2PI(AngRad  &rad);
const AngDeg NormalizeAngle_180 (AngDeg  &ang);
const AngRad NormalizeRadian_PI (AngRad  &rad);
const AngDeg BisectorAngle      (AngDeg side1Ang,AngDeg side2Ang);


/////////////////////////////////////////////////////////////////////
// 二维向量相关的函数
////////////////////////////////////////////////////////////////////

const Vector GetVectorByPolar(double len,AngDeg ang);

const double VectorsDist(const Vector &vec1,const Vector &vec2);

const double VectorsDistSquare(const Vector &vec1,const Vector &vec2);

const AngDeg VectorAngle(const Vector &vec);

const double VectorLength(const Vector &vec);

const double VectorLengthSquare(const Vector &vec);

//矢量vec单位化
const Vector VectorNormalize(Vector &vec);

//矢量vec1加上vec2,结果保存在vec1,返回vec1
const Vector VectorAdd(Vector &vec1,const Vector &vec2);

//矢量minuendc减去subtrahend,结果保存在minuend,同时返回minuend
const Vector VectorSub(Vector &minuend,const Vector &subtrahend);

//矢量vec乘以multiple,结果保存在vec,返回vec
const Vector VectorMultiply(Vector &vec,const double multiple);

//矢量vec除以divisor,结果保存在vec,返回vec
const Vector VectorDivid(Vector &vec,const double divisor);

//求角平分线角度
const  AngDeg BisectorAngle(AngDeg side1Ang,AngDeg side2Ang);

const double VectorCross(const Vector &vec1,const Vector &vec2);

const double VectorDot(const Vector &vec1,const Vector &vec2);

const double CosValueOf2Vector(Vector vec1, Vector vec2);

const double SinValueOf2Vector(Vector vec1, Vector vec2);

#endif