matlab subtract,csubtract.m · zigzag2015/machinevision-toolbox-matlab - Gitee.com

%CSUBTRACT Subtract two angles on a circle

%

% d = csubtract(th1, th2)

%

% Subtract two angles and return a result that is always in the range

% [-pi pi).

% Copyright (C) 1993-2011, by Peter I. Corke

%

% This file is part of The Machine Vision Toolbox for Matlab (MVTB).

%

% MVTB is free software: you can redistribute it and/or modify

% it under the terms of the GNU Lesser General Public License as published by

% the Free Software Foundation, either version 3 of the License, or

% (at your option) any later version.

%

% MVTB is distributed in the hope that it will be useful,

% but WITHOUT ANY WARRANTY; without even the implied warranty of

% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

% GNU Lesser General Public License for more details.

%

% You should have received a copy of the GNU Leser General Public License

% along with MVTB. If not, see .

function dth = csubtract(th1, th2)

dth = th1 - th2;

while dth >= pi,

dth = dth - 2*pi;

end

while dth < -pi,

dth = dth + 2*pi;

end

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