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#include <stdio.h> #include <math.h> #if !defined(M_PI) #define M_PI 3.141592653589793238462643383279 #endif #define PI M_PI #define PID (2.0 * M_PI) double normalize(double th) { while (th < -PI) th = th + PID; while(th > PI) th = th - PID; return th; } int main() { double f; f = 2.131422123; printf("%f -> %f\n", f, normalize(f)); f = 4.131422123; printf("%f -> %f\n", f, normalize(f)); f = -6.131422123; printf("%f -> %f\n", f, normalize(f)); return 0; } /* end */
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