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<h1>KNI_MHF Namespace Reference</h1> </div>
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<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">unary_precalc_sin</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">unary_precalc_cos</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">unary_rad2deg</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">unary_deg2rad</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="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">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">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">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">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">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">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">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">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">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">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">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>Function Documentation</h2>
<a class="anchor" id="a52c5a9edb5cd944492f95e7863ff20b3"></a><!-- doxytag: member="KNI_MHF::acotan" ref="a52c5a9edb5cd944492f95e7863ff20b3" args="(const _T in)" -->
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<td class="memname">_T KNI_MHF::acotan </td>
<td>(</td>
<td class="paramtype">const _T </td>
<td class="paramname"><em>in</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00077">77</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
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<a class="anchor" id="a202b976b4e5b854db64e26fd89f627aa"></a><!-- doxytag: member="KNI_MHF::anglereduce" ref="a202b976b4e5b854db64e26fd89f627aa" args="(const _T a)" -->
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template<typename _T > </div>
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<td class="memname">_T KNI_MHF::anglereduce </td>
<td>(</td>
<td class="paramtype">const _T </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00126">126</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
<p>Referenced by <a class="el" href="MathHelperFunctions_8h_source.html#l00157">findFirstEqualAngle()</a>.</p>
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<a class="anchor" id="a205b65427a897c6a9017c27f585d60c9"></a><!-- doxytag: member="KNI_MHF::atan0" ref="a205b65427a897c6a9017c27f585d60c9" args="(const _T in1, const _T in2)" -->
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<td class="memname">_T KNI_MHF::atan0 </td>
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<td class="paramtype">const _T </td>
<td class="paramname"><em>in1</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const _T </td>
<td class="paramname"><em>in2</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00085">85</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
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<a class="anchor" id="addb30747327355c9ff2dcfe58451dc23"></a><!-- doxytag: member="KNI_MHF::atan1" ref="addb30747327355c9ff2dcfe58451dc23" args="(_T in1, _T in2)" -->
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<td class="memname">_T KNI_MHF::atan1 </td>
<td>(</td>
<td class="paramtype">_T </td>
<td class="paramname"><em>in1</em>, </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00062">62</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>, and <a class="el" href="MathHelperFunctions_8h_source.html#l00037">sign()</a>.</p>
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Here is the call graph for this function:</div>
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<a class="anchor" id="addad2ed2f4a9f6f13a56554df726bde5"></a><!-- doxytag: member="KNI_MHF::deg2rad" ref="addad2ed2f4a9f6f13a56554df726bde5" args="(const _T a)" -->
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<td class="memname">_T KNI_MHF::deg2rad </td>
<td>(</td>
<td class="paramtype">const _T </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>conversion from degree to radian </p>
<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00114">114</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
<p>Referenced by <a class="el" href="MathHelperFunctions_8h_source.html#l00122">KNI_MHF::unary_deg2rad< _T >::operator()()</a>.</p>
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<a class="anchor" id="a759be0245c1703c4413960d6431519c8"></a><!-- doxytag: member="KNI_MHF::enc2rad" ref="a759be0245c1703c4413960d6431519c8" args="(_encT const &enc, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)" -->
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template<typename _angleT , typename _encT > </div>
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<td class="memname">_angleT KNI_MHF::enc2rad </td>
<td>(</td>
<td class="paramtype">_encT const & </td>
<td class="paramname"><em>enc</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">_angleT const & </td>
<td class="paramname"><em>angleOffset</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">_encT const & </td>
<td class="paramname"><em>epc</em>, </td>
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<td class="paramtype">_encT const & </td>
<td class="paramname"><em>encOffset</em>, </td>
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<td class="paramtype">_encT const & </td>
<td class="paramname"><em>rotDir</em> </td>
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<td>)</td>
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<p>converts encoders to absolute angles in radian </p>
<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00148">148</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
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<a class="anchor" id="abae2c20b6da9322319c82d64724eb163"></a><!-- doxytag: member="KNI_MHF::findFirstEqualAngle" ref="abae2c20b6da9322319c82d64724eb163" args="(double cosValue, double sinValue, double tolerance)" -->
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<td class="memname">double KNI_MHF::findFirstEqualAngle </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>cosValue</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>sinValue</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>tolerance</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Find the first equal angle. </p>
<p>You have to pass a cos and a sin Value </p>
<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00157">157</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00126">anglereduce()</a>, and <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
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Here is the call graph for this function:</div>
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<div class="center"><img src="namespaceKNI__MHF_abae2c20b6da9322319c82d64724eb163_cgraph.png" border="0" usemap="#namespaceKNI__MHF_abae2c20b6da9322319c82d64724eb163_cgraph" alt=""/></div>
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<a class="anchor" id="a2c795afb8d206422e3aa2e5e5fe812e8"></a><!-- doxytag: member="KNI_MHF::pow2" ref="a2c795afb8d206422e3aa2e5e5fe812e8" args="(const _T in)" -->
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<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00092">92</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
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<a class="anchor" id="aead8f230476531d670a146a55f3fd05d"></a><!-- doxytag: member="KNI_MHF::rad2deg" ref="aead8f230476531d670a146a55f3fd05d" args="(const _T a)" -->
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<td class="memname">_T KNI_MHF::rad2deg </td>
<td>(</td>
<td class="paramtype">const _T </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>conversion from radian to degree </p>
<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00100">100</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
<p>Referenced by <a class="el" href="MathHelperFunctions_8h_source.html#l00108">KNI_MHF::unary_rad2deg< _T >::operator()()</a>.</p>
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<a class="anchor" id="a1821c355f23ed1eebd67a0d1b0805db4"></a><!-- doxytag: member="KNI_MHF::rad2enc" ref="a1821c355f23ed1eebd67a0d1b0805db4" args="(_angleT const &angle, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)" -->
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<td>(</td>
<td class="paramtype">_angleT const & </td>
<td class="paramname"><em>angle</em>, </td>
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<td class="paramtype">_angleT const & </td>
<td class="paramname"><em>angleOffset</em>, </td>
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<td class="paramtype">_encT const & </td>
<td class="paramname"><em>epc</em>, </td>
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<td class="paramtype">_encT const & </td>
<td class="paramname"><em>encOffset</em>, </td>
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<td class="paramtype">_encT const & </td>
<td class="paramname"><em>rotDir</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>converts absolute angles in radian to encoders. </p>
<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00134">134</a> of file <a class="el" href="MathHelperFunctions_8h_source.html">MathHelperFunctions.h</a>.</p>
<p>References <a class="el" href="MathHelperFunctions_8h_source.html#l00021">M_PI</a>.</p>
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<a class="anchor" id="a522b4f0516e082c5b14e417b1f2f462f"></a><!-- doxytag: member="KNI_MHF::sign" ref="a522b4f0516e082c5b14e417b1f2f462f" args="(_T x)" -->
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template<typename _T > </div>
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<td class="memname">short KNI_MHF::sign </td>
<td>(</td>
<td class="paramtype">_T </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="MathHelperFunctions_8h_source.html#l00037">37</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#l00062">atan1()</a>.</p>
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<li class="navelem"><a class="el" href="namespaceKNI__MHF.html">KNI_MHF</a> </li>
<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
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