public double getAngleDistance(double a, double b) { // Given a and b, find the minimum distance between a and b (in degrees) // while accounting for angle wrapping double result = 0; // Find the difference result = Math.abs(a - b); // Account for wrapping if (result > 180) { result = -1 * (result - 360); } return result; }
public double getWallUsValue() { return 0.40 * (1 + (0.181818 * Math.abs(Math.sin(Math.toRadians(2 * odo.getAng() + 180))))); }