24 #ifndef __UTILS_MATH_COORD_H_
25 #define __UTILS_MATH_COORD_H_
40 float *polar_phi,
float *polar_dist)
42 *polar_phi = atan2f(cart_y, cart_x);
43 *polar_dist = sqrtf(cart_x * cart_x + cart_y * cart_y);
55 float *cart_x,
float *cart_y)
57 *cart_x = polar_dist * cosf(polar_phi);
58 *cart_y = polar_dist * sinf(polar_phi);