Function Mechatronix::absAngleDiff

• Defined in File Mechatronix.cc

Function Documentation

real_type Mechatronix::absAngleDiff(real_type a, real_type b)

return \( a-b \;\mathrm{mod} \; 2\pi \)

Minum agle difference

\[ \ mathrm{absDiffAngle}(\alpha,\beta) = \min\left\{ |\alpha-\beta+2k\pi| \;|\; k\in\mathbb{Z}\rigth\} \]