Use euclid `Angle`

Cargo.toml

@@ -15,3 +15,4 @@ edition = "2018"
 
 
 [dependencies]
+euclid = "0.20.11"

src/lib.rs

@@ -1,11 +1,13 @@
-/*! Call all functions with a Vector as argument the vector should contain:
+//! Call all functions with a Vector as argument the vector should contain:
- - the end point as origin
+//!  - the end point as origin
- - the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
+//!  - the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
- - the circle radius as magnitude
+//!  - the circle radius as magnitude
+//!
+//! Start Vector is in the origin facing in positive x-direction
+//!
+//! Every struct defined here is 2 dimensional and uses f64
 
-Start Vector is in the origin facing in positive x-direction
+use euclid::Angle;
-
-Every struct defined here is 2 dimensional and uses f64 */
 
 /// Point
 pub struct Point {
@@ -16,7 +18,7 @@ pub struct Point {
 /// Vector with origin, angle and magnitude
 pub struct Vector {
     pub origin: Point,
-    pub angle: f64,
+    pub angle: Angle<f64>,
     pub magnitude: f64,
 }
 
@@ -29,7 +31,7 @@ pub struct Circle {
 /// Circle route with a circle and a angle for how long to drive on this circle
 pub struct CircleRoute {
     pub circle: Circle,
-    pub angle: f64,
+    pub angle: Angle<f64>,
 }
 
 /// Route with a start Circle, a tangent straight and a end Circle (eg. rsl, rsr, lsr, lsl)
@@ -58,11 +60,11 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
                 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
         tangent: Vector {
             origin: Point { x: 0.0, y: 0.0 },
-            angle: 0.0,
+            angle: Angle::zero(),
             magnitude: 0.0,
         },
         end: CircleRoute {
@@ -70,31 +72,32 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
                 center: Point { x: 0.0, y: 0.0 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
     };
 
     // get the center point by adding the end vector to the end point
     // this works because the argument is the angle in positive y direction
     // not positive x direction so we dont have to rotate it here anymore
-    // the angle has to be counter clockwise though (thats why 360 - end.angle)
+    // the angle has to be counter clockwise though (thats why 2π - end.angle)
     route_csc.end.circle.center = Point {
-        x: end.origin.x + end.magnitude * (360.0 - end.angle).to_radians().cos(),
+        x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(),
-        y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
+        y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(),
     };
 
     // get the tangent pitch which is the same as the pitch between the two
     // circle centers since our circles have the same radius
-    route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
+    route_csc.tangent.angle = Angle::radians(
+        ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
             / (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
-        .atan()
+            .atan(),
-        .to_degrees();
+    );
 
     // if the end circle center x value is smaller than the
     // start circle center x value
     // the angle would be 180° rotated so to prevent that:
     if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
-        route_csc.tangent.angle += 180.0;
+        route_csc.tangent.angle += Angle::pi();
     }
 
     // get the tangent magnitude this, again, is the same as the distance
@@ -105,37 +108,21 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
         .sqrt();
 
     // get the angle of the start circle
-    route_csc.start.angle = 90.0 - route_csc.tangent.angle;
+    route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
-
-    // make the angle pretty
-    if route_csc.start.angle < 0.0 {
-        route_csc.start.angle += 360.0;
-    }
-    if route_csc.start.angle >= 360.0 {
-        route_csc.start.angle -= 360.0;
-    }
 
     // get the tangent origin by moving the vector from the start circle center
     // 90° to it's own direction and the magnitude of the circle radius
     route_csc.tangent.origin = Point {
         x: route_csc.start.circle.center.x
-            + route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
+            + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(),
         y: route_csc.start.circle.center.y
-            + route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
+            + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().sin(),
     };
 
     // get the angle of the start circle
     // the angle where we start from the tangent equals the one we finish
     // so we can use that in here
-    route_csc.end.angle = end.angle - route_csc.start.angle;
+    route_csc.end.angle = (end.angle - route_csc.start.angle).positive();
-
-    // make the angle pretty
-    if route_csc.end.angle < 0.0 {
-        route_csc.end.angle += 360.0;
-    }
-    if route_csc.end.angle >= 360.0 {
-        route_csc.end.angle -= 360.0;
-    }
 
     Ok(route_csc)
 }
@@ -151,11 +138,11 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
                 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
         tangent: Vector {
             origin: Point { x: 0.0, y: 0.0 },
-            angle: 0.0,
+            angle: Angle::zero(),
             magnitude: 0.0,
         },
         end: CircleRoute {
@@ -163,36 +150,33 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
                 center: Point { x: 0.0, y: 0.0 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
     };
 
     // get the center point by adding the end vector to the end point
-    // we have to rotate the vector 180° (90° because the given angle is from the y axis
+    // we have to rotate the vector π (π/2 because the given angle is from the y axis
-    // and 90 more to not get the tangent but the vector to the center point)
+    // and π/2 more to not get the tangent but the vector to the center point)
     // and again we have to use the counter clockwise direction
     route_csc.end.circle.center = Point {
-        x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
+        x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(),
-        y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
+        y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(),
     };
 
     // get the tangent pitch which is the same as the pitch between the two
     // circle centers since our circles have the same radius
-    route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
+    route_csc.tangent.angle = Angle::radians(
+        ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
             / (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
-        .atan()
+            .atan(),
-        .to_degrees();
+    )
+    .positive();
 
     // if the end circle center x value is smaller than the
     // start circle center x value
-    // the angle would be 180° rotated so to prevent that:
+    // the angle would be π rotated so to prevent that:
     if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
-        route_csc.tangent.angle += 180.0;
+        route_csc.tangent.angle = (route_csc.tangent.angle + Angle::pi()).positive();
-    }
-
-    // make the angle positive
-    if route_csc.tangent.angle < 0.0 {
-        route_csc.tangent.angle += 360.0;
     }
 
     // get the tangent magnitude this, again, is the same as the distance
@@ -207,37 +191,21 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
     .sqrt();
 
     // get the angle of the start circle
-    route_csc.start.angle = route_csc.tangent.angle - 90.0;
+    route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
-
-    // make the angle pretty
-    if route_csc.start.angle < 0.0 {
-        route_csc.start.angle += 360.0;
-    }
-    if route_csc.start.angle >= 360.0 {
-        route_csc.start.angle -= 360.0;
-    }
 
     // get the tangent origin by moving the vector from the start circle center
     // 90° to it's own direction and the magnitude of the circle radius
     route_csc.tangent.origin = Point {
         x: route_csc.start.circle.center.x
-            + route_csc.start.circle.radius * route_csc.start.angle.to_radians().cos(),
+            + route_csc.start.circle.radius * route_csc.start.angle.get().cos(),
         y: route_csc.start.circle.center.y
-            + route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(),
+            + route_csc.start.circle.radius * route_csc.start.angle.get().sin(),
     };
 
     // get the angle of the start circle
     // the angle where we start from the tangent equals the one we finish
     // so we can use that in here
-    route_csc.end.angle = end.angle - route_csc.start.angle;
+    route_csc.end.angle = (end.angle - route_csc.start.angle).positive();
-
-    // make the angle pretty
-    if route_csc.end.angle < 0.0 {
-        route_csc.end.angle += 360.0;
-    }
-    if route_csc.end.angle >= 360.0 {
-        route_csc.end.angle -= 360.0;
-    }
 
     Ok(route_csc)
 }
@@ -253,11 +221,11 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
                 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
         tangent: Vector {
             origin: Point { x: 0.0, y: 0.0 },
-            angle: 0.0,
+            angle: Angle::zero(),
             magnitude: 0.0,
         },
         end: CircleRoute {
@@ -265,17 +233,17 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
                 center: Point { x: 0.0, y: 0.0 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
     };
 
     // get the center point by adding the end vector to the end point
-    // we have to rotate the vector 180° (90° because the given angle is from the y axis
+    // we have to rotate the vector π (π/2 because the given angle is from the y axis
-    // and 90 more to not get the tangent but the vector to the center point)
+    // and π/2 more to not get the tangent but the vector to the center point)
     // and again we have to use the counter clockwise direction
     route_csc.end.circle.center = Point {
-        x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
+        x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(),
-        y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
+        y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(),
     };
 
     // check if inside tangent can even be constructed
@@ -301,51 +269,34 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
     };
 
     // get the tangent angle
-    route_csc.tangent.angle = ((route_csc.end.circle.center.y - tangent_middle.y)
+    route_csc.tangent.angle = Angle::radians(
+        ((route_csc.end.circle.center.y - tangent_middle.y)
             / (route_csc.end.circle.center.x - tangent_middle.x))
             .atan()
-        .to_degrees()
+            - (2.0 * end.magnitude / route_csc.tangent.magnitude).atan(),
-        - (2.0 * end.magnitude / route_csc.tangent.magnitude)
+    );
-            .atan()
-            .to_degrees();
 
     // if the end circle center x value is smaller than the
     // start circle center x value
-    // the angle would be 180° rotated so to prevent that:
+    // the angle would be π rotated so to prevent that:
     if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
-        route_csc.tangent.angle += 180.0;
+        route_csc.tangent.angle += Angle::pi();
     }
 
     // get the angle of the start circle
-    route_csc.start.angle = 90.0 - route_csc.tangent.angle;
+    route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
-
-    // make the angle pretty
-    if route_csc.start.angle < 0.0 {
-        route_csc.start.angle += 360.0;
-    }
-    if route_csc.start.angle >= 360.0 {
-        route_csc.start.angle -= 360.0;
-    }
 
     // get the tangent origin by moving the vector from the start circle center
     // along its right angle vector
     route_csc.tangent.origin = Point {
         x: route_csc.start.circle.center.x
-            + route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
+            + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(),
         y: route_csc.start.circle.center.y
-            + route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
+            + route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().sin(),
     };
 
     // get the angle of the end circle
-    route_csc.end.angle = (90.0 - end.angle) - route_csc.tangent.angle;
+    route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
-
-    // make the angle pretty
-    if route_csc.end.angle < 0.0 {
-        route_csc.end.angle += 360.0;
-    }
-    if route_csc.end.angle >= 360.0 {
-        route_csc.end.angle -= 360.0;
-    }
 
     Ok(route_csc)
 }
@@ -361,11 +312,11 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
                 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
         tangent: Vector {
             origin: Point { x: 0.0, y: 0.0 },
-            angle: 0.0,
+            angle: Angle::zero(),
             magnitude: 0.0,
         },
         end: CircleRoute {
@@ -373,17 +324,17 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
                 center: Point { x: 0.0, y: 0.0 },
                 radius: end.magnitude,
             },
-            angle: 0.0,
+            angle: Angle::zero(),
         },
     };
 
     // get the center point by adding the end vector to the end point
     // this works because the argument is the angle in positive y direction
     // not positive x direction so we dont have to rotate it here anymore
-    // the angle has to be counter clockwise though (thats why 360 - end.angle)
+    // the angle has to be counter clockwise though (thats why 2π - end.angle)
     route_csc.end.circle.center = Point {
-        x: end.origin.x + end.magnitude * (360.0 - end.angle).to_radians().cos(),
+        x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(),
-        y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
+        y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(),
     };
 
     // check if inside tangent can even be constructed
@@ -409,51 +360,34 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
     };
 
     // get the tangent angle
-    route_csc.tangent.angle = ((route_csc.end.circle.center.y - tangent_middle.y)
+    route_csc.tangent.angle = Angle::radians(
+        ((route_csc.end.circle.center.y - tangent_middle.y)
             / (route_csc.end.circle.center.x - tangent_middle.x))
             .atan()
-        .to_degrees()
+            + (2.0 * end.magnitude / route_csc.tangent.magnitude).atan(),
-        + (2.0 * end.magnitude / route_csc.tangent.magnitude)
+    );
-            .atan()
-            .to_degrees();
 
     // if the end circle center x value is smaller than the
     // start circle center x value
     // the angle would be 180° rotated so to prevent that:
     if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
-        route_csc.tangent.angle += 180.0;
+        route_csc.tangent.angle += Angle::pi();
     }
 
     // get the angle of the start circle
-    route_csc.start.angle = route_csc.tangent.angle - 90.0;
+    route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
-
-    // make the angle pretty
-    if route_csc.start.angle < 0.0 {
-        route_csc.start.angle += 360.0;
-    }
-    if route_csc.start.angle >= 360.0 {
-        route_csc.start.angle -= 360.0;
-    }
 
     // get the tangent origin by moving the vector from the start circle center
     // 90° to it's own direction and the magnitude of the circle radius
     route_csc.tangent.origin = Point {
         x: route_csc.start.circle.center.x
-            + route_csc.start.circle.radius * route_csc.start.angle.to_radians().cos(),
+            + route_csc.start.circle.radius * route_csc.start.angle.get().cos(),
         y: route_csc.start.circle.center.y
-            + route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(),
+            + route_csc.start.circle.radius * route_csc.start.angle.get().sin(),
     };
 
     // get the angle of the end circle
-    route_csc.end.angle = (90.0 - end.angle) - route_csc.tangent.angle;
+    route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
-
-    // make the angle pretty
-    if route_csc.end.angle < 0.0 {
-        route_csc.end.angle += 360.0;
-    }
-    if route_csc.end.angle >= 360.0 {
-        route_csc.end.angle -= 360.0;
-    }
 
     Ok(route_csc)
 }