math_util.cc

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#include "modules/planning/planning_base/common/util/math_util.h"
 
#include <utility>
 
#include "modules/common/math/math_utils.h"
 
namespace apollo {
namespace planning {
namespace util {
 
std::pair<double, double> WorldCoordToObjCoord(
    std::pair<double, double> input_world_coord,
    std::pair<double, double> obj_world_coord, double obj_world_angle) {
  double x_diff = input_world_coord.first - obj_world_coord.first;
  double y_diff = input_world_coord.second - obj_world_coord.second;
  double rho = std::sqrt(x_diff * x_diff + y_diff * y_diff);
  double theta = std::atan2(y_diff, x_diff) - obj_world_angle;
 
  return std::make_pair(std::cos(theta) * rho, std::sin(theta) * rho);
}
 
double WorldAngleToObjAngle(double input_world_angle, double obj_world_angle) {
  return common::math::NormalizeAngle(input_world_angle - obj_world_angle);
}
 
}  // namespace util
}  // namespace planning
}  // namespace apollo