org.firstinspires.ftc.robotcore.external.navigation

Enum UnnormalizedAngleUnit

java.lang.Object

java.lang.Enum<UnnormalizedAngleUnit>

org.firstinspires.ftc.robotcore.external.navigation.UnnormalizedAngleUnit

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<UnnormalizedAngleUnit>

public enum UnnormalizedAngleUnit
extends java.lang.Enum<UnnormalizedAngleUnit>

An UnnormalizedAngleUnit represents angles in different units of measure and provides utility methods to convert across units. UnnormalizedAngleUnit does not maintain angle information information internally, but only helps organize and use angle measures that may be maintained separately across various contexts.

Angles can be distinguished along (at least) two axes:

1. the fundamental unit (radians vs degrees)
2. whether the angular quantity is normalized or not to the range of [-180,+180) degrees

Normalized angles are of most utility when dealing with physical angles, as normalization removes ambiguity of representation. In particular, two angles can be compared for equality by subtracting them, normalizing, and testing whether the absolute value of the result is smaller than some tolerance threshold. This approach neatly handles all cases of cyclical wrapping without unexpected discontinuities.

Unnormalized angles can be handy when the angular quantity is not a physical angle but some related quantity such as an angular velocity or acceleration, where the quantity in question lacks the 360-degree cyclical equivalence of a physical angle.

AngleUnit expresses normalized angles, while UnnormalizedAngleUnit expresses unnormalized ones

Enum Constant Summary

Enum Constants

Enum Constant and Description
DEGREES
RADIANS

Field Summary

Fields

Modifier and Type	Field and Description
byte	bVal

Method Summary

Modifier and Type	Method and Description
double	fromDegrees(double degrees)
float	fromDegrees(float degrees)
double	fromRadians(double radians)
float	fromRadians(float radians)
double	fromUnit(UnnormalizedAngleUnit them, double theirs)
float	fromUnit(UnnormalizedAngleUnit them, float theirs)
AngleUnit	getNormalized()
double	toDegrees(double inOurUnits)
float	toDegrees(float inOurUnits)
double	toRadians(double inOurUnits)
float	toRadians(float inOurUnits)
static UnnormalizedAngleUnit	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static UnnormalizedAngleUnit[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

DEGREES

public static final UnnormalizedAngleUnit DEGREES

RADIANS

public static final UnnormalizedAngleUnit RADIANS

Field Detail

bVal

public final byte bVal

Method Detail

values

public static UnnormalizedAngleUnit[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (UnnormalizedAngleUnit c : UnnormalizedAngleUnit.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static UnnormalizedAngleUnit valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null

fromDegrees

public double fromDegrees(double degrees)

fromDegrees

public float fromDegrees(float degrees)

fromRadians

public double fromRadians(double radians)

fromRadians

public float fromRadians(float radians)

fromUnit

public double fromUnit(UnnormalizedAngleUnit them,
                       double theirs)

fromUnit

public float fromUnit(UnnormalizedAngleUnit them,
                      float theirs)

toDegrees

public double toDegrees(double inOurUnits)

toDegrees

public float toDegrees(float inOurUnits)

toRadians

public double toRadians(double inOurUnits)

toRadians

public float toRadians(float inOurUnits)

getNormalized

public AngleUnit getNormalized()