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<h1>MathHelperFunctions.h File Reference</h1> </div>
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<div class="textblock"><code>#include <cmath></code><br/>
<code>#include <vector></code><br/>
<code>#include <functional></code><br/>
<code>#include <cassert></code><br/>
</div><div class="textblock"><div class="dynheader">
Include dependency graph for MathHelperFunctions.h:</div>
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<div class="center"><img src="MathHelperFunctions_8h__incl.png" border="0" usemap="#include_2common_2MathHelperFunctions_8h" alt=""/></div>
<map name="include_2common_2MathHelperFunctions_8h" id="include_2common_2MathHelperFunctions_8h">
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<p><a href="MathHelperFunctions_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structKNI__MHF_1_1unary__precalc__sin.html">KNI_MHF::unary_precalc_sin< _T ></a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">function-object which calculates sinus for n-elements of a container if used together with a STL algorithm <a href="structKNI__MHF_1_1unary__precalc__sin.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structKNI__MHF_1_1unary__precalc__cos.html">KNI_MHF::unary_precalc_cos< _T ></a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structKNI__MHF_1_1unary__rad2deg.html">KNI_MHF::unary_rad2deg< _T ></a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a function-object version of rad2deg <a href="structKNI__MHF_1_1unary__rad2deg.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structKNI__MHF_1_1unary__deg2rad.html">KNI_MHF::unary_deg2rad< _T ></a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a function-object version of rad2deg <a href="structKNI__MHF_1_1unary__deg2rad.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html">KNI_MHF</a></td></tr>
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Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="MathHelperFunctions_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>   3.14159265358979323846</td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">short </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a522b4f0516e082c5b14e417b1f2f462f">KNI_MHF::sign</a> (_T x)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#addb30747327355c9ff2dcfe58451dc23">KNI_MHF::atan1</a> (_T in1, _T in2)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a52c5a9edb5cd944492f95e7863ff20b3">KNI_MHF::acotan</a> (const _T in)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a205b65427a897c6a9017c27f585d60c9">KNI_MHF::atan0</a> (const _T in1, const _T in2)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a2c795afb8d206422e3aa2e5e5fe812e8">KNI_MHF::pow2</a> (const _T in)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#aead8f230476531d670a146a55f3fd05d">KNI_MHF::rad2deg</a> (const _T a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">conversion from radian to degree <a href="#aead8f230476531d670a146a55f3fd05d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#addad2ed2f4a9f6f13a56554df726bde5">KNI_MHF::deg2rad</a> (const _T a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">conversion from degree to radian <a href="#addad2ed2f4a9f6f13a56554df726bde5"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a202b976b4e5b854db64e26fd89f627aa">KNI_MHF::anglereduce</a> (const _T a)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _angleT , typename _encT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_encT </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a1821c355f23ed1eebd67a0d1b0805db4">KNI_MHF::rad2enc</a> (_angleT const &angle, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">converts absolute angles in radian to encoders. <a href="#a1821c355f23ed1eebd67a0d1b0805db4"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename _angleT , typename _encT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">_angleT </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#a759be0245c1703c4413960d6431519c8">KNI_MHF::enc2rad</a> (_encT const &enc, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">converts encoders to absolute angles in radian <a href="#a759be0245c1703c4413960d6431519c8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceKNI__MHF.html#abae2c20b6da9322319c82d64724eb163">KNI_MHF::findFirstEqualAngle</a> (double cosValue, double sinValue, double tolerance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find the first equal angle. <a href="#abae2c20b6da9322319c82d64724eb163"></a><br/></td></tr>
</table>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="ae71449b1cc6e6250b91f539153a7a0d3"></a><!-- doxytag: member="MathHelperFunctions.h::M_PI" ref="ae71449b1cc6e6250b91f539153a7a0d3" args="" -->
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<td class="memname">#define M_PI   3.14159265358979323846</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00021">21</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>Referenced by <a class="el" href="MathHelperFunctions_8h_source.html#l00077">KNI_MHF::acotan()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00126">KNI_MHF::anglereduce()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00085">KNI_MHF::atan0()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00062">KNI_MHF::atan1()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00114">KNI_MHF::deg2rad()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00148">KNI_MHF::enc2rad()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00157">KNI_MHF::findFirstEqualAngle()</a>, <a class="el" href="MathHelperFunctions_8h_source.html#l00100">KNI_MHF::rad2deg()</a>, and <a class="el" href="MathHelperFunctions_8h_source.html#l00134">KNI_MHF::rad2enc()</a>.</p>
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