// Projection
public override double referencePositionDefinitionValue(Point2D point)
{
if (point == m_center)
{
// In this case no projection can happen
return(double.NaN);
}
// Calculates the intersection point of the circle and the line between cneter and the given point
Point2D intersection = new Point2D(0, 0);
double l = (point - m_center).length();
intersection.x = m_center.x + (point.x - m_center.x) / l * m_radius;
intersection.y = m_center.y + (point.y - m_center.y) / l * m_radius;
// Calculates the absoulte angle of the line between center and the intersection point
AngleWrapper intersectingAngle = new AngleWrapper(intersection - m_center);
// Calculates the angle between the statpoint and the intersection point
AngleWrapper angle = new AngleWrapper();
angle = m_driveRight != m_reverse
? intersectingAngle - startAngle()
: -intersectingAngle + startAngle();
// Angle > 0.5*m_angle+PI give negative results
if (angle.radian() > 3 * Math.PI / 2)
{
return((angle.radian() - 2 * Math.PI) * m_radius);
}
else
{
return(angle.radian() * m_radius);
}
}
// updates the start and endangles
public void updateAngle()
{
string s;
m_endangle = new AngleWrapper(m_endpoint - m_center).radian();
m_startangle = new AngleWrapper(m_startpoint - m_center).radian();
m_angle = m_driveRight == m_reverse
? new AngleWrapper(endAngle() - startAngle()).radian()
: new AngleWrapper(startAngle() - endAngle()).radian();
m_direction = new AngleWrapper(m_direction).radian();
}
// Gives the orientation
public double orientation(double d)
{
AngleWrapper angle = new AngleWrapper(startAngle());
// Calculates the absolute angle
angle += (m_driveRight == m_reverse)
? d / m_radius
: -d / m_radius;
// If in a left curve the orientation is perpencicular to the left and the other way around
if (m_reverse)
{
return(angle.perpendicularRight().radian());
}
else
{
return(angle.perpendicularLeft().radian());
}
}
// Projection
public override double referencePositionDefinitionValue(Point2D point)
{
Point2D directionalVector = new AngleWrapper(m_endpoint - m_startpoint).unitVector();
return(directionalVector.point(point - m_startpoint));
}
// Projection
public override double referencePositionDefinitionValue(Point2D point)
{
Point2D directionalVector = new AngleWrapper(m_endpoint - m_startpoint).unitVector();
return directionalVector.point(point - m_startpoint);
}
// Gives the orientation
public double orientation(double d)
{
AngleWrapper angle = new AngleWrapper(startAngle());
// Calculates the absolute angle
angle += (m_driveRight == m_reverse)
? d / m_radius
: -d / m_radius;
// If in a left curve the orientation is perpencicular to the left and the other way around
if (m_reverse)
return angle.perpendicularRight().radian();
else
return angle.perpendicularLeft().radian();
}
// updates the start and endangles
public void updateAngle()
{
string s;
m_endangle = new AngleWrapper(m_endpoint - m_center).radian();
m_startangle = new AngleWrapper(m_startpoint - m_center).radian();
m_angle = m_driveRight == m_reverse
? new AngleWrapper(endAngle() - startAngle()).radian()
: new AngleWrapper(startAngle() - endAngle()).radian();
m_direction = new AngleWrapper(m_direction).radian();
}
// Projection
public override double referencePositionDefinitionValue(Point2D point)
{
if (point == m_center)
// In this case no projection can happen
return double.NaN;
// Calculates the intersection point of the circle and the line between cneter and the given point
Point2D intersection= new Point2D(0,0);
double l = (point - m_center).length();
intersection.x= m_center.x + (point.x - m_center.x)/l * m_radius;
intersection.y = m_center.y + (point.y - m_center.y) / l * m_radius;
// Calculates the absoulte angle of the line between center and the intersection point
AngleWrapper intersectingAngle = new AngleWrapper(intersection - m_center);
// Calculates the angle between the statpoint and the intersection point
AngleWrapper angle = new AngleWrapper();
angle = m_driveRight != m_reverse
? intersectingAngle - startAngle()
: -intersectingAngle + startAngle();
// Angle > 0.5*m_angle+PI give negative results
if (angle.radian()>3*Math.PI/2)
return (angle.radian() - 2 * Math.PI) * m_radius;
else
return angle.radian() * m_radius;
}
public AngleWrapper(AngleWrapper angle)
{
setRadian(angle.radian());
}
public AngleWrapper(AngleWrapper angle)
{
setRadian(angle.radian());
}
