1 %% Copyright (c) 2011, INRA
2 %% 2011, David Legland <david.legland@grignon.inra.fr>
3 %% 2011 Adapted to Octave by Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
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35 %% @deftypefn {Function File} {@var{dif} =} angleDiff (@var{angle1}, @var{angle2})
36 %% Difference between two angles
38 %% Computes the signed angular difference between two angles in radians.
39 %% The result is comprised between -PI and +PI.
42 %% A = angleDiff(-pi/4, pi/4)
44 %% 1.5708 % equal to pi/2
45 %% A = angleDiff(pi/4, -pi/4)
47 %% -1.5708 % equal to -pi/2
49 %% @seealso{angles2d, angleAbsDiff}
52 function dif = angleDiff(angle1, angle2)
54 % first, normalization
55 angle1 = normalizeAngle(angle1);
56 angle2 = normalizeAngle(angle2);
58 % compute difference and normalize in [-pi pi]
59 dif = normalizeAngle(angle2 - angle1, 0);
63 %! dif = angleDiff(0, pi/2);
64 %! assert (pi/2, dif, 1e-6);
67 %! dif = angleDiff(pi/2, 0);
68 %! assert (-pi/2, dif, 1e-6);
71 %! dif = angleDiff(0, 3*pi/2);
72 %! assert (-pi/2, dif, 1e-6);
75 %! dif = angleDiff(3*pi/2, 0);
76 %! assert (pi/2, dif, 1e-6);