5.3.4.110. Function motion_get_theta
Defined in File motion_struct.h
5.3.4.110.1. Function Documentation
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float motion_get_theta(const tmat3x3_t *tmat)
Extract the rotation angle \(\theta\) from a
tmat3x3_ttransformation matrix. Compute the arc tangent of \( y / x \) (= \(\arctan(\frac{\sin(\theta)}{\cos(\theta)})\)).- Parameters
tmat – An allocated
tmat3x3_tand initialized transformation matrix.- Returns
\(\theta\) angle in radians (range: \([-\pi;+\pi]\)).