bool Util::clockwise(double alpha, double beta) {
double a = to_2pi(alpha);
double b = to_2pi(beta);
if (std::abs(a-b) <= M_PI) {
return b >= a;
}
return a > b;
}
double Util::turnDelta(double alpha, double beta) {
double a = to_2pi(alpha);
double b = to_2pi(beta);
double delta = std::abs(a-b);
if (delta <= M_PI) {
return delta;
}
return 2.0*M_PI - delta;
}
// To range (-pi,pi]
double Util::to_pi(double rad) {
double r = to_2pi(rad);
if (r > Pi)
return r-twopi;
else {
return r;
}
}
// Compass angle = track in [0,2pi)
double Vect2::compassAngle() const {
return to_2pi(trk());
}
