// 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());
}
}
// 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();
}
