BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external/Mathf

Mathf

Extended math utility functions.

This class is effectively a combination of the math found in WPILib's MathUtil and Unity's Mathf features, adjusted to use WPIUnits and custom classes.

This class internally uses the Apache Commons FastMath methods.

Since

1.0.0-pre

Types

NoInterceptException

class NoInterceptException : RuntimeException

Exception thrown if no intercept is found when using the intersection methods of this class.

Functions

applyDeadband

@JvmStatic

@JvmName(name = "applyDeadbandInfix")

infix fun Number.applyDeadband(deadband: Number): Double

Returns 0.0 if the given value is within the specified range around zero. The remaining range between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude. Maximal magnitude is 1 for this infix overload.

@JvmStatic

@JvmOverloads

fun Number.applyDeadband(deadband: Number, maxMagnitude: Number = 1): Double

Returns 0.0 if the given value is within the specified range around zero. The remaining range between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.

approx

@JvmStatic

infix fun Number.approx(other: Number): Boolean

Checks if two values are approximately equal, such that floating point errors are accounted for.

clamp

@JvmStatic

infix fun Number.clamp(range: ClosedFloatingPointRange<Double>): Double

@JvmStatic

fun Number.clamp(low: Number, high: Number): Double

Returns value clamped between low and high boundaries.

closestPowerOfTwo

@JvmStatic

fun Int.closestPowerOfTwo(): Int

Returns the closest power of two that is equal to or larger than the specified value.

degToRad

@JvmStatic

fun Number.degToRad(): Double

Convert degrees to radians.

diff

@JvmStatic

infix fun Measure<Angle>.diff(target: Measure<Angle>): Measure<Angle>

Calculates the shortest difference between two given angles.

gamma

@JvmStatic

fun Number.gamma(absMax: Number, gamma: Number): Double

Applies gamma correction to a given value within a specified range.

indexOfMax

@JvmStatic

fun DoubleArray.indexOfMax(): Int

Determines the index with the highest value in this array.

indexOfMin

@JvmStatic

fun DoubleArray.indexOfMin(): Int

Determines the index with the lowest value in this array.

inverseLerp

@JvmStatic

fun ClosedFloatingPointRange<Double>.inverseLerp(q: Number): Double

Return where within interpolation range 0, 1 q is between the start and end pair.

@JvmStatic

fun inverseLerp(startValue: Number, endValue: Number, q: Number): Double

Return where within interpolation range 0, 1 q is between startValue and endValue.

isNear

@JvmStatic

fun Number.isNear(expected: Number, tolerance: Number): Boolean

Checks if the given value matches an expected value within a certain tolerance.

@JvmStatic

fun Number.isNear(expected: Number, tolerance: Number, min: Number, max: Number): Boolean

Checks if the given value matches an expected value within a certain tolerance. Supports continuous input for cases like absolute encoders.

isPowerOfTwo

@JvmStatic

fun Int.isPowerOfTwo(): Boolean

Returns whether the given value is a power of two.

lerp

@JvmStatic

infix fun Pair<Measure<Angle>, Measure<Angle>>.lerp(t: Number): Measure<Angle>

@JvmStatic

fun lerp(a: Measure<Angle>, b: Measure<Angle>, t: Number): Measure<Angle>

Perform linear interpolation like lerp, but interpolates correctly when they wrap around 1 revolution (360 degrees).

@JvmStatic

infix fun ClosedFloatingPointRange<Double>.lerp(t: Number): Double

@JvmStatic

fun lerp(startValue: Number, endValue: Number, t: Number): Double

Perform linear interpolation between two values.

lerpUnclamped

@JvmStatic

infix fun ClosedFloatingPointRange<Double>.lerpUnclamped(t: Number): Double

@JvmStatic

fun lerpUnclamped(startValue: Number, endValue: Number, t: Number): Double

Perform linear interpolation between two values.

lineCircleIntersection

@JvmStatic

fun lineCircleIntersection(p1: Vector2d, p2: Vector2d, center: Vector2d, radius: Number): Pair<Vector2d, Vector2d>

Find the intersection between a line and a circle.

lineIntersection

@JvmStatic

fun lineIntersection(p1: Vector2d, p2: Vector2d, p3: Vector2d, p4: Vector2d): Vector2d

Find the intersection of two lines.

lineSegmentCircleIntersection

@JvmStatic

fun lineSegmentCircleIntersection(p1: Vector2d, p2: Vector2d, center: Vector2d, radius: Number): Pair<Vector2d, Vector2d>

Find the intersection between a line segment and a circle.

lineSegmentIntersection

@JvmStatic

fun lineSegmentIntersection(p1: Vector2d, p2: Vector2d, p3: Vector2d, p4: Vector2d): Vector2d

Find the intersection of two line segments.

moveTowards

@JvmStatic

fun Measure<Angle>.moveTowards(target: Measure<Angle>, maxDelta: Measure<Angle>): Measure<Angle>

Same as moveTowards, but makes sure the values interpolate correctly when they wrap around 1 revolution (360 degrees).

@JvmStatic

fun Number.moveTowards(target: Number, maxDelta: Number): Double

Moves a current value towards target.

nextPowerOfTwo

@JvmStatic

fun Int.nextPowerOfTwo(): Int

Returns the next power of two that is equal to or larger than the specified value.

orderPoints

@JvmStatic

fun Array<Point>.orderPoints(): Array<Point?>

Orders OpenCV camera points to be in the order top-left, top-right, bottom-right and bottom-left.

pingPong

@JvmStatic

infix fun Number.pingPong(length: Number): Double

PingPongs (bounces) the value t, so that it is never larger than length and never smaller than 0.

radToDeg

@JvmStatic

fun Number.radToDeg(): Double

Convert radians to degrees.

repeat

@JvmStatic

infix fun Number.repeat(length: Number): Double

Loops the value, so that it is never larger than length and never smaller than 0.

round

@JvmStatic

@JvmName(name = "roundInfix")

infix fun Number?.round(thDigits: Int): Double

@JvmOverloads

@JvmStatic

fun Number?.round(thDigits: Int, sigFigs: Int = -1): Double

Round a number to a certain number of decimal points.

scale

@JvmStatic

fun Number.scale(x1x2: ClosedFloatingPointRange<Double>, y1y2: ClosedFloatingPointRange<Double>): Double

@JvmStatic

fun Number.scale(x1: Number, x2: Number, y1: Number, y2: Number): Double

Scale a number in the range of x1 to x2, to the range of y1 to y2.

smoothDamp

@JvmStatic

fun Measure<Angle>.smoothDamp(target: Measure<Angle>, currentVelocity: Reference<Double>, smoothTime: Measure<Time>, maxVelocity: Number, deltaTime: Measure<Time>): Measure<Angle>

Gradually changes an angle towards a desired goal over time.

@JvmStatic

fun Number.smoothDamp(target: Number, currentVelocity: Reference<Double>, smoothTime: Measure<Time>, maxVelocity: Number, deltaTime: Measure<Time>): Double

Gradually changes a value towards a desired goal over time.

smoothStep

@JvmStatic

fun ClosedFloatingPointRange<Double>.smoothStep(t: Number): Double

@JvmStatic

fun smoothStep(from: Number, to: Number, t: Number): Double

Interpolates between min and max with smoothing at the limits.

solveQuadratic

@JvmStatic

fun solveQuadratic(a: Number, b: Number, c: Number): List<Double>

Solve a quadratic for x, given coefficients a, b, and c.

wrap

@JvmStatic

fun Measure<Angle>.wrap(): Measure<Angle>

Normalizes the given angle to be within the range of [0, 2pi) radians or [0, 360) degrees.

@JvmStatic

infix fun Number.wrap(range: ClosedFloatingPointRange<Double>): Double

@JvmStatic

fun Number.wrap(minimumInput: Number, maximumInput: Number): Double

Returns modulus of input.

wrapDelta

@JvmStatic

fun Measure<Angle>.wrapDelta(): Measure<Angle>

Wraps an angle to the range -pi to pi radians.

wrapDeltaRadians

@JvmStatic

fun Number.wrapDeltaRadians(): Double

Wraps radians to the range -pi to pi.

wrapRadians

@JvmStatic

fun Number.wrapRadians(): Double

Normalizes the given radians to be within the range [0, 2pi).

Mathf

Since

See also

Types

Functions