自学教程：C++ GetAngle函数代码示例

void CKinectProc::BatchAngel(double *data,double *outputData,int height,int width,int channel){	int lineWidth = channel * width;	for (int i = 0; i < height; ++i)	{		vector<double> meanVal(channel,0);		GetBodyCenter(data + i*lineWidth,width,channel,meanVal);		std::cout<<"BodyNo:"<<i<<".  "<<" body center ok!"<<std::endl;		for (int j = 0; j < width; ++j)		{			vector<double> val(channel,0);			GetAngle(data + i*lineWidth + j * channel,&meanVal[0],channel,val);			for (int k = 0; k < channel; ++k)			{				outputData[i*lineWidth + j * channel + k] = val[k];			}			//val.clear();		}		std::cout<<"BodyNo:"<<i<<".  "<<" Angle ok!"<<std::endl;		//meanVal.clear(); 	}	}

void Encoder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {  this->model = model;  // Parse SDF properties  joint = model->GetJoint(sdf->Get<std::string>("joint"));  if (sdf->HasElement("topic")) {    topic = sdf->Get<std::string>("topic");  } else {    topic = "~/" + sdf->GetAttribute("name")->GetAsString();  }  if (sdf->HasElement("units")) {    radians = sdf->Get<std::string>("units") != "degrees";  } else {    radians = true;  }  zero = GetAngle();  stopped = true;  stop_value = 0;  gzmsg << "Initializing encoder: " << topic << " joint=" << joint->GetName()        << " radians=" << radians << std::endl;  // Connect to Gazebo transport for messaging  std::string scoped_name =      model->GetWorld()->GetName() + "::" + model->GetScopedName();  boost::replace_all(scoped_name, "::", "/");  node = transport::NodePtr(new transport::Node());  node->Init(scoped_name);  command_sub = node->Subscribe(topic + "/control", &Encoder::Callback, this);  pos_pub = node->Advertise<msgs::Float64>(topic + "/position");  vel_pub = node->Advertise<msgs::Float64>(topic + "/velocity");  // Connect to the world update event.  // This will trigger the Update function every Gazebo iteration  updateConn = event::Events::ConnectWorldUpdateBegin(      boost::bind(&Encoder::Update, this, _1));}

void EDGE_MODULE::Mirror( wxPoint aCentre, bool aMirrorAroundXAxis ){    // Mirror an edge of the footprint. the layer is not modified    // This is a footprint shape modification.    switch( GetShape() )    {    case S_ARC:        SetAngle( -GetAngle() );        //Fall through    default:    case S_SEGMENT:        if( aMirrorAroundXAxis )        {            MIRROR( m_Start0.y, aCentre.y );            MIRROR( m_End0.y, aCentre.y );        }        else        {            MIRROR( m_Start0.x, aCentre.x );            MIRROR( m_End0.x, aCentre.x );        }            break;    case S_POLYGON:        // polygon corners coordinates are always relative to the        // footprint position, orientation 0        for( unsigned ii = 0; ii < m_PolyPoints.size(); ii++ )        {            if( aMirrorAroundXAxis )                MIRROR( m_PolyPoints[ii].y, aCentre.y );            else                MIRROR( m_PolyPoints[ii].x, aCentre.x );        }    }    SetDrawCoord();}

/**/brief Accelerates the ship. * /sa Model::GetAcceleration */void Ship::Accelerate( void ) {	Trig *trig = Trig::Instance();	Coordinate momentum = GetMomentum();	float angle = static_cast<float>(trig->DegToRad( GetAngle() ));	float speed = shipStats.GetMaxSpeed()*engineBooster;	float acceleration = (shipStats.GetForceOutput() *engineBooster ) / shipStats.GetMass();	momentum += Coordinate( trig->GetCos( angle ) * acceleration * Timer::GetDelta(),	                -1 * trig->GetSin( angle ) * acceleration * Timer::GetDelta() );	momentum.EnforceMagnitude(speed);		SetMomentum( momentum );		status.isAccelerating = true;	// Play engine sound	float engvol = OPTION(float,"options/sound/engines");	Coordinate offset = GetWorldPosition() - Camera::Instance()->GetFocusCoordinate();	if ( this->GetDrawOrder() == DRAW_ORDER_SHIP )		engvol = engvol * NON_PLAYER_SOUND_RATIO ;	this->engine->GetSound()->SetVolume( engvol );	this->engine->GetSound()->PlayNoRestart( offset );}

void EDGE_MODULE::Flip(const wxPoint& aCentre ){    wxPoint pt;    switch( GetShape() )    {    case S_ARC:        SetAngle( -GetAngle() );        //Fall through    default:    case S_SEGMENT:        pt = GetStart();        pt.y -= aCentre.y;        pt.y  = -pt.y;        pt.y += aCentre.y;        SetStart( pt );        pt = GetEnd();        pt.y -= aCentre.y;        pt.y  = -pt.y;        pt.y += aCentre.y;        SetEnd( pt );        NEGATE( m_Start0.y );        NEGATE( m_End0.y );        break;    case S_POLYGON:        // polygon corners coordinates are always relative to the        // footprint position, orientation 0        for( unsigned ii = 0; ii < m_PolyPoints.size(); ii++ )            NEGATE( m_PolyPoints[ii].y );    }    SetLayer( FlipLayer( GetLayer() ) );}

std::stringSimbox::getStormHeader(int cubetype, int nx, int ny, int nz, bool flat, bool ascii) const{  if(flat == false)    assert(topName_ != "");  std::string header;  if(ascii == false)    header = "storm_petro_binary/n";  else    header = "storm_petro_ascii/n";  header += "0 "+NRLib::ToString(cubetype) +" "+ NRLib::ToString(RMISSING,6)+"/n";  header += "FFTGrid/n";  if(flat == false)    header += NRLib::ToString(GetXMin(),6) +" "+ NRLib::ToString(GetLX(),6) +" "+ NRLib::ToString(GetYMin(),6) +" "+ NRLib::ToString(GetLY(),6) +" "+ topName_ +" "+ botName_ +" 0.0 0.0/n";  else    header += NRLib::ToString(GetXMin(),6) +" "+ NRLib::ToString(GetLX(),6) +" "+ NRLib::ToString(GetYMin(),6) +" "+ NRLib::ToString(GetLY(),6) +" 0.0 "+ NRLib::ToString(GetLZ(),6)+" 0.0 0.0/n";  header += NRLib::ToString(GetLZ(),6) +" "+ NRLib::ToString(GetAngle()*180/NRLib::Pi,6)+"/n/n";  header += NRLib::ToString(nx) +" "+ NRLib::ToString(ny) +" "+ NRLib::ToString(nz)+"/n";  std::string strHeader(header);  return(strHeader);}

void ribi::QtPathArrowItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *, QWidget *){  painter->setRenderHint(QPainter::Antialiasing);  if (this->isSelected() || this->hasFocus())  {    painter->setPen(m_focus_pen);  }  else  {    painter->setPen(m_pen);  }  {    //Draw the lines    painter->drawLine(m_tail_pos,m_mid_pos[0]);    const std::size_t max = m_mid_pos.size() - 1; //-1, because the line goes to the next index    for (std::size_t i = 0; i!= max; ++i)    {      painter->drawLine(m_mid_pos[i],m_mid_pos[i+1]);    }    painter->drawLine(m_mid_pos[ m_mid_pos.size() - 1 ],m_head_pos);  }  const double sz = 10.0; //pixels  if (m_tail)  {    const double pi = boost::math::constants::pi<double>();    const double dx = m_mid_pos[0].x() - m_tail_pos.x();    const double dy = m_mid_pos[0].y() - m_tail_pos.y();    double angle = GetAngle(dx,dy);    if (dy >= 0.0) angle = (1.0 * pi) + angle;    //const QPointF m_tail_pos(m_tail_x,m_tail_y);    const QPointF p1      = m_tail_pos + QPointF(         std::sin(angle + pi + (pi * 0.1)) * sz,        -std::cos(angle + pi + (pi * 0.1)) * sz);    const QPointF p2      = m_tail_pos + QPointF(         std::sin(angle + pi - (pi * 0.1)) * sz,        -std::cos(angle + pi - (pi * 0.1)) * sz);    painter->drawPolygon(QPolygonF() << m_tail_pos << p1 << p2);  }  if (m_head)  {    const double pi = boost::math::constants::pi<double>();    const double dx = m_head_pos.x() - m_mid_pos[m_mid_pos.size() - 1].x();    const double dy = m_head_pos.y() - m_mid_pos[m_mid_pos.size() - 1].y();    double angle = GetAngle(dx,dy);    if (dy >= 0.0) angle = (1.0 * pi) + angle;    const QPointF p1      = m_head_pos + QPointF(         std::sin(angle +  0.0 + (pi * 0.1)) * sz,        -std::cos(angle +  0.0 + (pi * 0.1)) * sz);    const QPointF p2      = m_head_pos + QPointF(         std::sin(angle +  0.0 - (pi * 0.1)) * sz,        -std::cos(angle +  0.0 - (pi * 0.1)) * sz);    painter->drawPolygon(QPolygonF() << m_head_pos << p1 << p2);  }}

//.........这里部分代码省略.........					{						multiplier = 5.0f;					}										if(Length(acceleration) > 0)					{						acceleration = Normalize(acceleration) * multiplier;					}				}								acceleration = acceleration - (entity->velocity * 0.05f);				Vector2 new_velocity = (acceleration * timestep) + entity->velocity;				Vector2 new_position = (acceleration * 0.5f * timestep * timestep) + (new_velocity * timestep) + GetCenter(entity->bounds);				Rect2 collision_box = RectPosSize(new_position.x, new_position.y, GetWidth(entity->bounds), GetHeight(entity->bounds));				bool intersects = false;							for(int j = 0; j < entities.count; j++)				{					if(j != i)					{						Entity *other_entity = entities.entities + j;						intersects = intersects || Intersect(other_entity->bounds, collision_box);					}				}								if(!intersects)				{					entity->velocity = new_velocity;					entity->bounds = RectPosSize(new_position.x, new_position.y, GetWidth(entity->bounds), GetHeight(entity->bounds));				}				else				{					entity->velocity = V2(0, 0);				}								switch(entity->type)				{					case EntityType_Box:					{						DrawRectangle(entity->bounds.min.x, entity->bounds.min.y,									  GetWidth(entity->bounds), GetHeight(entity->bounds),									  backbuffer, V4(1.0f, 0.0f, 0.0f, 1.0f));					}					break;										case EntityType_Player:					{						float angle = GetAngle(entity->velocity);						Direction direction = AngleToDirection(angle);						Vector4 color = V4(1.0f, 1.0f, 1.0f, 0.0f);												if(direction == Direction_Up)						{							color = V4(1.0f, 0.0f, 0.0f, 1.0f);						}						else if(direction == Direction_Down)						{							color = V4(1.0f, 1.0f, 0.0f, 1.0f);						}						else if(direction == Direction_Left)						{							color = V4(0.0f, 1.0f, 1.0f, 1.0f);						}						else if(direction == Direction_Right)						{							color = V4(0.0f, 1.0f, 0.0f, 1.0f);						}												char output[255];						sprintf(output, "%f/n", angle);						OutputDebugStringA(output);												DrawRectangle(300,									  300,									  10, 10,									  backbuffer, color);												DrawRectangle(entity->bounds.min.x,									  entity->bounds.min.y,									  GetWidth(entity->bounds), GetHeight(entity->bounds),									  backbuffer, intersects ? V4(0.5f, 0.0f, 0.0f, 0.5f) : V4(0.5f, 0.5f, 0.5f, 0.5f));								DrawBitmap(entity->bounds.min.x,								   entity->bounds.min.y,								   GetWidth(entity->bounds), GetHeight(entity->bounds),								   backbuffer, player_head);					}					break;				}			}		}				StretchDIBits(window_context,					  0, 0, backbuffer.width, backbuffer.height,					  0, 0, backbuffer.width, backbuffer.height,					  backbuffer.pixels, &bitmap_info, DIB_RGB_COLORS, SRCCOPY);	}		return 0;}

bool Shooter::IsAtAngle(){	bool ontarget=angle_pid->OnTarget();	GetAngle();	return ontarget;}

/***@brief 
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