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UtilitiesSignedAngularDistanceToTarget Method

Determines the signed angle to move from the specified angle to as close to the specified target as possible whilst satisfying the limits.

Namespace: Demo3D.Visuals.KJE
Assembly: Demo3D.Core (in Demo3D.Core.dll) Version: 19.00.00
Syntax
C#
Copy
public static double SignedAngularDistanceToTarget(
	double angle,
	double target,
	double upper,
	double lower,
	int directionHint
)

Parameters

angle  Double
The current angle in radians (does not need to be normalized).
target  Double
The target angle in radians (does not need to be normalized).
upper  Double
The upper limit in radians (does not need to be normalized).
lower  Double
The lower limit in radians (does not need to be normalized).
directionHint  Int32
Hint as to the direction of the motor (used if the target is invalid).

Return Value

Double
The signed distance to move from the angle to as close to the target as possible whilst avoiding limits.
Remarks
If the limits are invalid (infinite or NaN) then no limits is imposed and the distance is the shortest distance between the angle and the target. If the angle provided violates the limits then the distance is the distance between the angle and the target (or the closest limit to the target if the target violates the limits) by moving in the direction of the closest limit to the current angle. If the angle provided satisfies the limits then the distance is the distance between the angle and the target (or the closest limit to the target if the target violates the limits) in the direction that avoids violating the limits. A positive distance returned indicates that the movement should be in the anti-clockwise direction. A negative distance indicates that the movement should be in the clockwise direction.
See Also