gnxlxnxx/dubins_path
1
0
Fork 0
mirror of https://github.com/gnxlxnxx/dubins_path synced 2026-07-27 07:03:03 +02:00
Code Issues Releases Wiki Activity

Update documentation

Browse Source
This commit is contained in:
gnxlxnxx
2020-06-12 23:36:40 +02:00
parent 25410463bb
commit ae929371e7
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib.rs
+6 -6
View File
@@ -1,6 +1,6 @@
//! Call all functions with a Vector as argument the vector should contain:
//! - 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° (π/2) facing east, ...)
//! - the circle radius as magnitude
//!
//! Start Vector is in the origin facing in positive y-direction
@@ -109,7 +109,7 @@ impl RouteCSC {
// 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 rotated by π so to prevent that:
if route_csc.end.center.x < route_csc.start.center.x {
route_csc.tangent.angle += Angle::pi();
}
@@ -124,7 +124,7 @@ impl RouteCSC {
route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
// 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
// π/2 to it's own direction and the magnitude of the circle radius
route_csc.tangent.origin = route_csc.start.center
+ Rotation::new(Angle::pi() - end.angle)
.transform_vector(Vector2D::new(route_csc.start.radius, 0.0));
@@ -195,7 +195,7 @@ impl RouteCSC {
route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
// 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
// π/2 to it's own direction and the magnitude of the circle radius
route_csc.tangent.origin = route_csc.start.center
+ Rotation::new(route_csc.start.angle)
.transform_vector(Vector2D::new(route_csc.start.radius, 0.0));
@@ -342,7 +342,7 @@ impl RouteCSC {
// 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 rotated by π so to prevent that:
if route_csc.end.center.x < route_csc.start.center.x {
route_csc.tangent.angle += Angle::pi();
}
@@ -351,7 +351,7 @@ impl RouteCSC {
route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
// 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
// π/2 to it's own direction and the magnitude of the circle radius
route_csc.tangent.origin = route_csc.start.center
+ Rotation::new(route_csc.start.angle)
.transform_vector(Vector2D::new(route_csc.start.radius, 0.0));