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minor reformatting

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This commit is contained in:
Dennis Luxen 2014-05-13 10:20:39 +02:00
parent c6a07acd90
commit 21645643b0
1 changed files with 40 additions and 17 deletions
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57
Util/ComputeAngle.h
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@ -725,44 +725,66 @@ constexpr double SCALING_FACTOR = 4 / M_PI * 0xFFFF;
inline double atan2_lookup(double y, double x) inline double atan2_lookup(double y, double x)
{ {
if ((x > 0.0) && (x < std::numeric_limits<double>::epsilon()) if ((x > 0.) && (x < std::numeric_limits<double>::epsilon()) ||
|| (x < 0.0) && (x > -std::numeric_limits<double>::epsilon())) (x < 0.) && (x > -std::numeric_limits<double>::epsilon()))
{ {
if (y >= 0.0) if (y >= 0.)
return M_PI/2.0; {
return M_PI / 2.;
}
else else
return -M_PI/2.0; {
return -M_PI / 2.;
}
} }
unsigned octant = 0; unsigned octant = 0;
if (x < 0) { if (x < 0.)
{
octant = 1; octant = 1;
x = -x; x = -x;
} }
if (y < 0) { if (y < 0.)
{
octant |= 2; octant |= 2;
y = -y; y = -y;
} }
double t = y / x; double t = y / x;
if (t > 1.0) { if (t > 1.0)
{
octant |= 4; octant |= 4;
t = 1.0 / t; t = 1.0 / t;
} }
double angle = atan_table[(unsigned) (t*4095)] / SCALING_FACTOR; double angle = atan_table[(unsigned)(t * 4095)] / SCALING_FACTOR;
switch (octant) switch (octant)
{ {
case 0: break; case 0:
case 1: angle = M_PI - angle; break; break;
case 2: angle = -angle; break; case 1:
case 3: angle = -M_PI + angle; break; angle = M_PI - angle;
case 4: angle = M_PI/2.0 - angle; break; break;
case 5: angle = M_PI/2.0 + angle; break; case 2:
case 6: angle = -M_PI/2.0 + angle; break; angle = -angle;
case 7: angle = -M_PI/2.0 - angle; break; break;
case 3:
angle = -M_PI + angle;
break;
case 4:
angle = M_PI / 2.0 - angle;
break;
case 5:
angle = M_PI / 2.0 + angle;
break;
case 6:
angle = -M_PI / 2.0 + angle;
break;
case 7:
angle = -M_PI / 2.0 - angle;
break;
} }
return angle; return angle;
@ -785,4 +807,5 @@ inline static double GetAngleBetweenThreeFixedPointCoordinates(const CoordinateT
return angle; return angle;
} }
#endif // COMPUTE_ANGLE_H #endif // COMPUTE_ANGLE_H