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()); }