Package org.chsrobotics.lib.math

Class UtilityMath

  • public class UtilityMath
extends java.lang.Object
    Various useful small math functions.

    • Constructor Summary

      Constructors 
      Constructor Description
      UtilityMath()  

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static double normalizeAngleDegrees​(double angleDegrees)
      Normalizes an angle in degrees between 0 and 360.
      static double normalizeAngleRadians​(double angleRadians)
      Normalizes an angle in radians between 0 and 2 pi.
      static double[] normalizeSet​(double[] inputs, double maxAbsoluteValue)
      Scales a set of doubles symmetrically to ensure that none of them exceed a maximum absolute value, while still maintaining the same ratio.
      static double[] scaleToSum​(double[] inputs, double desiredSum)
      Scales a set of doubles symmetrically such that they sum to a desired number, while maintaining the same ratio.
      static double simpleLinearInterpolation​(double y0, double x0, double y1, double x1, double x)
      Interpolates a value between two points.
      static double smallestAngleDegreesBetween​(double angleA, double angleB)
      Returns the angle in degrees between two other angles with the smallest absolute value.
      static double smallestAngleRadiansBetween​(double angleA, double angleB)
      Returns the angle in radians between two other angles with the smallest absolute value.

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • UtilityMath

        public UtilityMath()

    • Method Detail

      • normalizeAngleRadians

        public static double normalizeAngleRadians​(double angleRadians)
        Normalizes an angle in radians between 0 and 2 pi.
        Parameters:
        angleRadians - Value in radians of the angle.
        Returns:
        The normalized value.

      • normalizeAngleDegrees

        public static double normalizeAngleDegrees​(double angleDegrees)
        Normalizes an angle in degrees between 0 and 360.
        Parameters:
        angleDegrees - Value of the angle.
        Returns:
        The normalized value.

      • smallestAngleRadiansBetween

        public static double smallestAngleRadiansBetween​(double angleA,
                                                 double angleB)
        Returns the angle in radians between two other angles with the smallest absolute value.

        A negative number indicates a clockwise rotation from angle a to angle b.

        Parameters:
        angleA - The first angle, in radians.
        angleB - The second angle, in raidans.
        Returns:
        A signed angle in radians representing the smallest (positive is counterclockwise) angle between angles a and b.

      • smallestAngleDegreesBetween

        public static double smallestAngleDegreesBetween​(double angleA,
                                                 double angleB)
        Returns the angle in degrees between two other angles with the smallest absolute value.

        A negative number indicates a clockwise rotation from angle a to angle b.

        Parameters:
        angleA - The first angle, in degrees.
        angleB - The second angle, in degrees.
        Returns:
        A signed angle in degrees representing the smallest (positive is counterclockwise) angle between angles a and b.

      • simpleLinearInterpolation

        public static double simpleLinearInterpolation​(double y0,
                                               double x0,
                                               double y1,
                                               double x1,
                                               double x)
        Interpolates a value between two points.

        For more complex, multi-point interpolation, use the MultiPointInterpolator class.

        Parameters:
        y0 - The initial value of the dependent variable.
        x0 - The initial value of the independent variable.
        y1 - The final value of the dependent variable.
        x1 - The final value of the independent variable.
        x - The place at which to sample for the returned value.
        Returns:
        The linearly interpolated value.

      • scaleToSum

        public static double[] scaleToSum​(double[] inputs,
                                  double desiredSum)
        Scales a set of doubles symmetrically such that they sum to a desired number, while maintaining the same ratio.
        Parameters:
        inputs - An array of doubles. If empty, this will return an empty array.
        desiredSum - The desired sum, positive or negative, of the outputs. If equal to zero, this will return an array of zeros of length equal to the input's length.
        Returns:
        An array of doubles with the same ratios between each other as the inputs.

      • normalizeSet

        public static double[] normalizeSet​(double[] inputs,
                                    double maxAbsoluteValue)
        Scales a set of doubles symmetrically to ensure that none of them exceed a maximum absolute value, while still maintaining the same ratio.
        Parameters:
        inputs - An array of the input values. If empty, this will return an empty array.
        maxAbsoluteValue - The maximum absolute value allowed for an output.
        Returns:
        An array of the scaled values, in the same order as they were input.