public XeroPose RotateRadians(double radians)
{
XeroVector vector = m_vector.RotateRadians(radians);
double heading = XeroUtils.BoundRadians(m_heading + radians);
return(new XeroPose(vector, heading));
}
public XeroVector Interpolate(XeroVector other, double percent)
{
if (percent < 0.0)
{
percent = 0.0;
}
else if (percent > 1.0)
{
percent = 1.0;
}
double x = X + (other.X - X) * percent;
double y = Y + (other.Y - Y) * percent;
return(new XeroVector(x, y));
}
public XeroPose Interpolate(XeroPose other, double percent)
{
if (percent < 0.0)
{
percent = 0.0;
}
else if (percent > 1.0)
{
percent = 1.0;
}
XeroVector v = m_vector.Interpolate(other.Position, percent);
double heading = m_heading + (other.m_heading - m_heading) * percent;
return(new XeroPose(v, heading));
}
public static double Distance(XeroVector p1, XeroVector p2)
{
return((p1 - p2).Length);
}
public XeroPose(double x, double y, double heading)
{
m_vector = new XeroVector(x, y);
m_heading = heading;
}
public XeroPose(XeroVector v, double heading)
{
m_vector = new XeroVector(v.X, v.Y);
m_heading = heading;
}
public XeroPose(XeroVector v)
{
m_vector = new XeroVector(v.X, v.Y);
m_heading = 0.0;
}
public XeroPose(double x, double y)
{
m_vector = new XeroVector(x, y);
m_heading = 0.0;
}
public XeroPose()
{
m_vector = new XeroVector();
m_heading = 0.0;
}
public XeroPose Translate(XeroVector v)
{
return(Translate(v.X, v.Y));
}