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Simplify angleBetween to avoid cancellation losses

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This commit is contained in:
Michael Krasnyk
2017-05-16 17:45:07 +02:00
committed by Patrick Niklaus
parent c535e74a65
commit 7a4c5a64fa
2 changed files with 24 additions and 9 deletions
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include/util/bearing.hpp
+1 -9
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@@ -120,15 +120,7 @@ inline double reverse(const double bearing)
// entry_bearing of 0.
inline double angleBetween(const double entry_bearing, const double exit_bearing)
{
// transform bearing from cw into ccw order
const double offset = 360 - entry_bearing;
const double rotated_exit = [](double bearing, const double offset) {
bearing += offset;
return bearing > 360 ? bearing - 360 : bearing;
}(exit_bearing, offset);
const auto angle = 540 - rotated_exit;
return angle >= 360 ? angle - 360 : angle;
return std::fmod(entry_bearing - exit_bearing + 540., 360.);
}
} // namespace bearing