Changeset 336 in flair-src for trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp

Timestamp:

10/08/19 16:41:35 (5 years ago)

Author:

Sanahuja Guillaume

Message:

use float

File:

• trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp (modified) (3 diffs)

trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp

@@ -72 +72 @@
 
   // configure trajectory
-  angle_off = atan2(start_pos.y - pos_off.y, start_pos.x - pos_off.x);
+  angle_off = atan2f(start_pos.y - pos_off.y, start_pos.x - pos_off.x);
   CurrentTime = 0;
 }
@@ -120 +120 @@
       if (CurrentTime < V / A) {
         theta = angle_off + A / 2 * CurrentTime * CurrentTime / R;
-        pos.x = R * cos(theta);
-        pos.y = R * sin(theta);
-        v.x = -A * CurrentTime * sin(theta);
-        v.y = A * CurrentTime * cos(theta);
+        pos.x = R * cosf(theta);
+        pos.y = R * sinf(theta);
+        v.x = -A * CurrentTime * sinf(theta);
+        v.y = A * CurrentTime * cosf(theta);
       } else {
         if (!is_finishing) {
           theta =
               angle_off + V * V / (2 * A * R) + (CurrentTime - V / A) * V / R;
-          pos.x = R * cos(theta);
-          pos.y = R * sin(theta);
-          v.x = -V * sin(theta);
-          v.y = V * cos(theta);
+          pos.x = R * cosf(theta);
+          pos.y = R * sinf(theta);
+          v.x = -V * sinf(theta);
+          v.y = V * cosf(theta);
         } else {
           theta = angle_off + V * V / (2 * A * R) +
@@ -138 +138 @@
                       (FinishTime - CurrentTime) / R +
                   V * (CurrentTime - FinishTime) / R;
-          pos.x = R * cos(theta);
-          pos.y = R * sin(theta);
-          v.x = -(V + A * (FinishTime - CurrentTime)) * sin(theta);
-          v.y = (V + A * (FinishTime - CurrentTime)) * cos(theta);
+          pos.x = R * cosf(theta);
+          pos.y = R * sinf(theta);
+          v.x = -(V + A * (FinishTime - CurrentTime)) * sinf(theta);
+          v.y = (V + A * (FinishTime - CurrentTime)) * cosf(theta);
         }
       }