PedroPathing/com.pedropathing.pathgen/MathFunctions

MathFunctions

This is the MathFunctions class. This contains many useful math related methods that I use in other classes to simplify code elsewhere.

Author

Anyi Lin - 10158 Scott's Bots

Aaron Yang - 10158 Scott's Bots

Harrison Womack - 10158 Scott's Bots

Constructors

MathFunctions

public void MathFunctions()

Functions

addPoints

public static Point addPoints(Point one, Point two)

This returns a Point that is the sum of the two input Point.

addPoses

public static Pose addPoses(Pose one, Pose two)

This returns a Pose that is the sum of the two input Pose.

addVectors

public static Vector addVectors(Vector one, Vector two)

This returns a Vector that is the sum of the two input Vectors.

clamp

public static double clamp(double num, double lower, double upper)

This clamps down a value to between the lower and upper bounds inclusive.

copyPoint

public static Point copyPoint(Point point)

Copies a Point, but with a different reference location in the memory.

copyVector

public static Vector copyVector(Vector vector)

Copies a Vector, but with a different reference location in the memory.

crossProduct

public static double crossProduct(Vector one, Vector two)

This computes the first Vector crossed with the second Vector, so a cross product.

distance

public static double distance(Pose one, Pose two)

This returns the distance between a Pose and another Pose.

public static double distance(Pose pose, Point point)

This returns the distance between a Pose and a Point,

dotProduct

public static double dotProduct(Vector one, Vector two)

This computes the dot product of the two Vectors.

getSign

public static double getSign(double get)

This returns the sign (positive/negative) of a number.

getSmallestAngleDifference

public static double getSmallestAngleDifference(double one, double two)

This returns the smallest angle between two angles.

getTurnDirection

public static double getTurnDirection(double startHeading, double endHeading)

This gets the direction to turn between a start heading and an end heading.

globalCoordinates

public Pose globalCoordinates(Pose currentPose)

nCr

public static double nCr(int n, int r)

This is a simple implementation of the choose function in math.

normalizeAngle

public static double normalizeAngle(double angleRadians)

This normalizes an angle to be between 0 and 2 pi radians, inclusive.

normalizeVector

public static Vector normalizeVector(Vector vector)

This normalizes a Vector to be of magnitude 1, unless the Vector is the zero Vector.

pedroCoordinates

public Pose pedroCoordinates(Pose currentPose)

rotatePose

public static Pose rotatePose(Pose pose, double theta, boolean rotateHeading)

This rotates the given pose by the given theta,

roughlyEquals

public static boolean roughlyEquals(double one, double two)

This returns whether a specified number is within a second specified number by plus/minus 0.0001.

public static boolean roughlyEquals(double one, double two, double accuracy)

This returns whether a specified value is within a second specified value by plus/minus a specified accuracy amount.

scalarMultiplyPoint

public static Point scalarMultiplyPoint(Point point, double scalar)

This multiplies a Point by a scalar and returns the result as a Point

scalarMultiplyVector

public static Vector scalarMultiplyVector(Vector vector, double scalar)

This multiplies a Vector by a scalar and returns the result as a Vector.

subtractPoints

public static Point subtractPoints(Point one, Point two)

This subtracts the second Point from the first Point and returns the result as a Point.

subtractPoses

public static Pose subtractPoses(Pose one, Pose two)

This subtracts the second Pose from the first Pose and returns the result as a Pose.

subtractVectors

public static Vector subtractVectors(Vector one, Vector two)

This subtracts the second Vector from the first Vector and returns the result as a Vector.