38 lines
779 B
C++
38 lines
779 B
C++
#include "math_utils.h"
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#include "common/log/log.h"
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namespace common {
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double NormalizeAngle(double ang) {
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const double &two_pi = 2 * M_PI;
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return ang - two_pi * std::floor((ang + M_PI) / two_pi);
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}
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double Degree2Rad(double degree) {
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return degree * M_PI / 180.0;
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}
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double Rad2Degree(double rad) {
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return rad * 180.0 / M_PI;
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}
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const std::vector<int> Range(int begin, int end, int step) {
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ACHECK(step != 0) << "Step must be non-zero";
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int sign = step < 0 ? -1 : 1;
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int num = (end - begin - sign) / step + 1;
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if (num <= 0) return {};
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std::vector<int> seq(num);
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int b = begin;
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for (int i = 0; i != num; ++i) {
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seq[i] = b;
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b += step;
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}
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return seq;
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}
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const std::vector<int> Range(int end) {
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return Range(0, end, 1);
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}
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} // namespace common
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