geometry.hpp File Reference

#include <algorithm>
#include <cmath>
#include <cstddef>
#include <numbers>
#include <vector>

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Classes
struct	wolflib::Pose
struct	wolflib::Rect
struct	wolflib::RobotGeometry
struct	wolflib::FieldConfig

Namespaces
namespace	wolflib

Functions
double	wolflib::degToRad (double degrees)
double	wolflib::radToDeg (double radians)
double	wolflib::wrapDegrees (double degrees)
double	wolflib::angleError (double target, double current)
double	wolflib::clamp (double value, double minimum, double maximum)
double	wolflib::slew (double target, double previous, double maximumChange)
double	wolflib::average (const std::vector< double > &values)
double	wolflib::ema (double current, double previous, double alpha)
Pose	wolflib::integrateLocalDelta (const Pose &pose, double localX, double localY, double deltaThetaDegrees)
	Integrate a robot-relative delta. localX is right, localY is forward.

Variables
constexpr double	wolflib::kPi = std::numbers::pi_v<double>