mathUtils.h

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#pragma once

#include <cmath>
#include <limits>
#include "Eigen/Dense"
#include "coordConv/physConst.h"
/*
Math utilities
*/
namespace coordConv {
    
    // useful constants (especially useful in Python, since there is no other easy way to get to them)
    const double DoubleEpsilon = std::numeric_limits<double>::epsilon();
    const double DoubleMax = std::numeric_limits<double>::max();
    const double DoubleMin = std::numeric_limits<double>::min();
    const double DoubleNaN = std::numeric_limits<double>::quiet_NaN();

    double hypot(double x, double y);

    double wrapPos(double ang);

    double wrapCtr(double ang);
    
    inline double wrapNear(double ang, double refAng);

    inline double sind(double ang) { return std::sin(ang * RadPerDeg); }

    inline double cosd(double ang) { return std::cos(ang * RadPerDeg); }

    inline double tand(double ang) { return std::tan(ang * RadPerDeg); }

    inline double asind(double x) { return std::asin(x) / RadPerDeg; }

    inline double acosd(double x) { return std::acos(x) / RadPerDeg; }

    inline double atand(double x) { return std::atan(x) / RadPerDeg; }

    inline double atan2d(double x, double y) { return std::atan2(x, y) / RadPerDeg; }

    bool polarFromXY(double &r, double &theta, double x, double y);

    void xyFromPolar(double &x, double &y, double r, double theta);

    void rot2D(double &rotX, double &rotY, double x, double y, double ang);

    void computeRotationMatrix(Eigen::Matrix3d &rotMat, Eigen::Vector3d const &axis, double rotAngle);

}
#include "coordConv/mathUtils.cc"