Difference between revisions of "U"
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m (no trig is even faster than fast trig!) |
m (fix) |
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| Line 12: | Line 12: | ||
<syntaxhighlight lang="java"> | <syntaxhighlight lang="java"> | ||
| − | + | double absoluteBearing = this.getHeadingRadians() + event.getBearingRadians(); | |
| − | + | double latVel = Math.sin(event.getHeadingRadians() - absoluteBearing) * event.getVelocity(); | |
| − | + | double advVel = -Math.cos(event.getHeadingRadians() - absoluteBearing) * event.getVelocity(); | |
</syntaxhighlight> | </syntaxhighlight> | ||
| Line 20: | Line 20: | ||
<syntaxhighlight lang="java"> | <syntaxhighlight lang="java"> | ||
| − | + | V direction = unit(displacement(robot.pos(), enemy.pos())); | |
| − | + | double latVel = cross(direction, enemy.vel()); | |
| − | + | double advVel = -dot(direction, enemy.vel()); | |
</syntaxhighlight> | </syntaxhighlight> | ||
the second one is also much faster because it involves no trig. | the second one is also much faster because it involves no trig. | ||
Revision as of 07:09, 8 August 2018
| This article is a stub. You can help RoboWiki by expanding it. |
This page is dedicated for describing the aaa.util.math.U
U is a universal math library, where U stands for Universal.
The propose of U is to avoid code like this, which coupled business logic and math logic
double absoluteBearing = this.getHeadingRadians() + event.getBearingRadians();
double latVel = Math.sin(event.getHeadingRadians() - absoluteBearing) * event.getVelocity();
double advVel = -Math.cos(event.getHeadingRadians() - absoluteBearing) * event.getVelocity();
write like this:
V direction = unit(displacement(robot.pos(), enemy.pos()));
double latVel = cross(direction, enemy.vel());
double advVel = -dot(direction, enemy.vel());
the second one is also much faster because it involves no trig.
