Package lejos.robotics

Examples of lejos.robotics.Pose.angleTo()

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            }
          }         
          if (!validReadings) continue;
         
          //Check there are no obstacles in the way
          testPose.setHeading(testPose.angleTo(pose.getLocation()));
          if (map.range(testPose) < testPose.distanceTo(pose.getLocation()))
            continue;         
         
          testPose.setHeading(heading); // Restore heading
          break; // We have a new way point
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  }

  public Pose goTo(Point destination) {
    Pose pose = poseProvider.getPose();
    if (pilot instanceof RotatePilot) { // optimize for RotatePilot
        float turnAngle = pose.angleTo(destination) - pose.getHeading();
        while (turnAngle < -180)turnAngle += 360;
        while (turnAngle > 180) turnAngle -= 360;
      ((RotatePilot) pilot).rotate(turnAngle);
      pilot.travel(pose.distanceTo(destination));     
    } else {
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