From d7fc54cfd0625d8bf40952f4162c4c5617db8148 Mon Sep 17 00:00:00 2001
From: TimZnr <zeunerti74726@th-nuernberg.de>
Date: Tue, 31 Jan 2023 21:18:53 +0100
Subject: [PATCH] rad->deg; use predefined pi

---
 AutonomousMode/Utils/utils.cpp | 6 ++----
 AutonomousMode/Utils/utils.h   | 2 ++
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/AutonomousMode/Utils/utils.cpp b/AutonomousMode/Utils/utils.cpp
index 6f840c8..7ffbea4 100644
--- a/AutonomousMode/Utils/utils.cpp
+++ b/AutonomousMode/Utils/utils.cpp
@@ -1,7 +1,5 @@
 #include "utils.h"
 
-#define PI 3.14159265359
-
 LFRPoint::LFRPoint(/* args */) : x(0.0), y(0.0)
 {
 }
@@ -33,7 +31,7 @@ LFRVector::~LFRVector()
 
 double LFRVector::angle(const LFRVector& other) const
 {
-    return acos(dot(other)/(this->norm()*other.norm()));
+    return acos(dot(other)/(this->norm()*other.norm())) * (180.0/M_PI);
 }
 
 double LFRVector::dot(const LFRVector& other) const
@@ -71,7 +69,7 @@ int Calcs::calcAngle(int deltaX, int deltaY){
         int refAngle = 0;
 
         if(deltaX > 10E-12){
-        refAngle = (int)((atan(deltaY/deltaX) * 180.0/PI) + 0.5 - (refAngle<0));  //Here 0.5 (or -0.5) is added to round a float number to int right
+        refAngle = (int)((atan(deltaY/deltaX) * 180.0/M_PI) + 0.5 - (refAngle<0));  //Here 0.5 (or -0.5) is added to round a float number to int right
 
         // convert from img coordinates to regbot coordinates
         refAngle = -(refAngle);
diff --git a/AutonomousMode/Utils/utils.h b/AutonomousMode/Utils/utils.h
index fde68e8..ec847b0 100644
--- a/AutonomousMode/Utils/utils.h
+++ b/AutonomousMode/Utils/utils.h
@@ -2,6 +2,8 @@
 
 #include <opencv2/opencv.hpp>
 #include <cmath>
+#define _USE_MATH_DEFINES
+#include <math.h>
 
 using namespace cv;
 using namespace std;