public virtual void translate(Distance dist, IDirection dir)
{
double distMeters = dist.Meters;
double dTheta = -DirectionMath.toRad(dir.bearing.Value); // radians; theta is positive to left, bearing - positive to right
this.translate(distMeters * Math.Cos(dTheta), distMeters * Math.Sin(dTheta));
}
public Direction dir; // straight forward is 0, right is positive
public RelPosition(Direction direction, Distance distance)
{
this.dir = (Direction)direction.Clone();
this.dist = (Distance)distance.Clone();
if (direction.bearingRelative.HasValue)
{
double bearingRad = DirectionMath.toRad(direction.bearingRelative.Value);
XMeters = distance.Meters * Math.Sin(bearingRad);
YMeters = -distance.Meters * Math.Cos(bearingRad);
}
else if (direction.bearing.HasValue)
{
double bearingRad = DirectionMath.toRad(direction.bearing.Value);
XMeters = distance.Meters * Math.Sin(bearingRad);
YMeters = -distance.Meters * Math.Cos(bearingRad);
}
}