function

Planning.Dubins.mod2pi

Wrap an angle to [0, 2*pi)

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`angle`	`Real`
output	`wrapped`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function mod2pi "Wrap an angle to [0, 2*pi)"
  input Real angle;
  output Real wrapped;
protected
  constant Real twoPi = 4.0 * asin(1.0);
algorithm
  wrapped := atan2(sin(angle), cos(angle));
  if wrapped < 0.0 then
    wrapped := wrapped + twoPi;
  end if;
end mod2pi;