/// <summary>
/// Calc angle from position to to position via <code>Math.Atan2</code>
/// </summary>
/// <param name="fromX"></param>
/// <param name="fromY"></param>
/// <param name="toX"></param
/// <param name="toY"></param>
/// <see cref="Math.Atan2"/>
/// <see cref="AngleUtils.AngleDegree"/>
/// <returns>angle in degree</returns>
public static double AngleDegree(double fromX, double fromY, double toX, double toY)
{
return(AngleUtils.AngleDegree(fromX, fromY, toX, toY));
}
/// <summary>
/// Normalize angle in rads to be from 0 to 2PI.
/// </summary>
/// <param name="rads">Normalized angle in rads</param>
/// <returns>Normalized angle.</returns>
public static double NormalizeAngle(double rads)
{
return(AngleUtils.NormalizeAngle(rads));
}
/// <summary>
/// Calc angle from position to to position via <code>Math.Atan2</code>
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param
/// <see cref="Math.Atan2"/>
/// <see cref="AngleUtils.AngleDegree"/>
/// <returns>angle in degree</returns>
public static double AngleDegree(Point from, Point to)
{
return(AngleUtils.AngleDegree(from.X, from.Y, to.X, to.Y));
}
/// <summary>
/// Convert angle in rads to angle in degree.
/// </summary>
/// <param name="rads">Converted angle in rads.</param>
/// <returns>Return angle in degree.</returns>
public static double ToDegree(double rads)
{
return(AngleUtils.ToDegree(rads));
}
/// <summary>
/// Convert angle in degree to angle in rads.
/// </summary>
/// <param name="degree">Converted angle in degree.</param>
/// <returns>Return angle in rads</returns>
public static double ToRads(double degree)
{
return(AngleUtils.ToRads(degree));
}
/// <summary>
/// Normalize angle in degree to be from 0 to 360°.
/// </summary>
/// <param name="degree">Normalized angle in degree</param>
/// <returns>Normalized angle.</returns>
public static double NormalizeDegree(double degree)
{
return(AngleUtils.NormalizeAngle(degree));
}
/// <summary>
/// Get robots horizontal speed.
/// </summary>
/// <param name="r"></param>
/// <returns>Robot's horizontal speed</returns>
public static double GetSpeedY(Robot r)
{
return(r.Power * r.Motor.MAX_SPEED / 100.0 * Math.Sin(AngleUtils.ToRads(r.AngleDrive)));
}