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