Function lupnt::AngleBetweenVecs(const VecX&, const VecX&)¶

Defined in File math_utils.cc

Function Documentation¶

Real lupnt::AngleBetweenVecs(const VecX &x, const VecX &y)¶

Compute the angle between two vectors.

Angle between two vectors [rad], computed via the numerically robust 2*atan2(|n1-n2|, |n1+n2|) formula (avoids the precision loss of acos(dot) near 0 and pi), where n1, n2 are the normalized inputs.

Parameters:

x – First vector
y – Second vector
x – First vector
y – Second vector

Returns:

Angle between the two vectors in radians

Returns:

Angle between x and y [rad], in [0, pi]