Resolve "Improve Keeper Positioning to take care of the deflection angles"

Closes #1666

See merge request main/Sumatra!1420

sumatra-commit: 98fcf4bbf1375df55f8722a6ffcbba359f3e9cf4

modules/common-math/src/main/java/edu/tigers/sumatra/math/AngleMath.java

 /*
- * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 
 package edu.tigers.sumatra.math;
@@ -71,11 +71,13 @@ public final class AngleMath
 	public static double rotateAngle(final double angleStart, final double angleAmount,
 			final ERotationDirection rotationDirection)
 	{
-		return normalizeAngle(
-				rotationDirection == ERotationDirection.NO_ROTATION ? angleStart :
-						rotationDirection == ERotationDirection.CCW_ROTATION ?
-								angleStart + angleAmount :
-								angleStart - angleAmount
+		if (rotationDirection == ERotationDirection.NONE)
+		{
+			return normalizeAngle(angleStart);
+		}
+		return normalizeAngle(rotationDirection == ERotationDirection.COUNTER_CLOCKWISE ?
+				angleStart + angleAmount :
+				angleStart - angleAmount
 		);
 	}
 
@@ -85,25 +87,17 @@ public final class AngleMath
 		final var difference = AngleMath.difference(angleEnd, angleStart);
 		if (Math.abs(difference) < 1e-6)
 		{
-			return ERotationDirection.NO_ROTATION;
+			return ERotationDirection.NONE;
 		} else if (difference < 0)
 		{
-			return ERotationDirection.CW_ROTATION;
+			return ERotationDirection.CLOCKWISE;
 		} else
 		{
-			return ERotationDirection.CCW_ROTATION;
+			return ERotationDirection.COUNTER_CLOCKWISE;
 		}
 	}
 
 
-	public enum ERotationDirection
-	{
-		NO_ROTATION,
-		CW_ROTATION,
-		CCW_ROTATION
-	}
-
-
 	/**
 	 * Get the absolute smallest difference between angle1 and angle2.<br>
 	 * <code>abs(norm(angle1-angle2))</code>

modules/common-math/src/main/java/edu/tigers/sumatra/math/ERotationDirection.java

+/*
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.sumatra.math;
+
+public enum ERotationDirection
+{
+	NONE,
+	CLOCKWISE,
+	COUNTER_CLOCKWISE
+}

modules/common-math/src/test/java/edu/tigers/sumatra/math/AngleMathTest.java

 /*
- * Copyright (c) 2009 - 2017, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 
 package edu.tigers.sumatra.math;
@@ -68,12 +68,11 @@ public class AngleMathTest
 	@Test
 	public void testRotateAngle()
 	{
-		assertThat(AngleMath.rotateAngle(-1, 2, AngleMath.ERotationDirection.CCW_ROTATION)).isEqualTo(1);
-		assertThat(AngleMath.rotateAngle(1, 2, AngleMath.ERotationDirection.CW_ROTATION)).isEqualTo(-1);
-		assertThat(AngleMath.rotateAngle(0, 42, AngleMath.ERotationDirection.NO_ROTATION)).isEqualTo(0);
-		assertThat(AngleMath.rotateAngle(15 * AngleMath.PI_TWO, 42, AngleMath.ERotationDirection.NO_ROTATION))
-				.isEqualTo(0);
-		assertThat(AngleMath.rotateAngle(-1, 2 + 10 * AngleMath.PI_TWO, AngleMath.ERotationDirection.CCW_ROTATION))
+		assertThat(AngleMath.rotateAngle(-1, 2, ERotationDirection.COUNTER_CLOCKWISE)).isEqualTo(1);
+		assertThat(AngleMath.rotateAngle(1, 2, ERotationDirection.CLOCKWISE)).isEqualTo(-1);
+		assertThat(AngleMath.rotateAngle(0, 42, ERotationDirection.NONE)).isZero();
+		assertThat(AngleMath.rotateAngle(15 * AngleMath.PI_TWO, 42, ERotationDirection.NONE)).isZero();
+		assertThat(AngleMath.rotateAngle(-1, 2 + 10 * AngleMath.PI_TWO, ERotationDirection.COUNTER_CLOCKWISE))
 				.isEqualTo(1);
 	}
 
@@ -81,15 +80,15 @@ public class AngleMathTest
 	@Test
 	public void testRotationDirection()
 	{
-		assertThat(AngleMath.rotationDirection(-1, 1)).isEqualTo(AngleMath.ERotationDirection.CCW_ROTATION);
-		assertThat(AngleMath.rotationDirection(1, -1)).isEqualTo(AngleMath.ERotationDirection.CW_ROTATION);
-		assertThat(AngleMath.rotationDirection(1, 1)).isEqualTo(AngleMath.ERotationDirection.NO_ROTATION);
+		assertThat(AngleMath.rotationDirection(-1, 1)).isEqualTo(ERotationDirection.COUNTER_CLOCKWISE);
+		assertThat(AngleMath.rotationDirection(1, -1)).isEqualTo(ERotationDirection.CLOCKWISE);
+		assertThat(AngleMath.rotationDirection(1, 1)).isEqualTo(ERotationDirection.NONE);
 		assertThat(AngleMath.rotationDirection(-1 + 10 * AngleMath.PI_TWO, 1 + 10 * AngleMath.PI_TWO))
-				.isEqualTo(AngleMath.ERotationDirection.CCW_ROTATION);
+				.isEqualTo(ERotationDirection.COUNTER_CLOCKWISE);
 		assertThat(AngleMath.rotationDirection(1 + 10 * AngleMath.PI_TWO, -1))
-				.isEqualTo(AngleMath.ERotationDirection.CW_ROTATION);
+				.isEqualTo(ERotationDirection.CLOCKWISE);
 		assertThat(AngleMath.rotationDirection(15 * AngleMath.PI_TWO, 10 * AngleMath.PI_TWO))
-				.isEqualTo(AngleMath.ERotationDirection.NO_ROTATION);
+				.isEqualTo(ERotationDirection.NONE);
 	}