from math import *

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#                                   Trigo
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class Trigo(object):

    @staticmethod
    def getCarthesianTarget(carthesianSender, carthesianObjective):
        return {'x': carthesianSender['x'] + carthesianObjective['x'],
                'y': carthesianSender['y'] + carthesianObjective['y']}

    @staticmethod
    def getPolarTarget(polarSender, polarObjective):
        carthesianTarget = Trigo.getCarthesianTarget(
            Trigo.toCarthesian(polarSender),
            Trigo.toCarthesian(polarObjective))

        return Trigo.toPolar(carthesianTarget)

    @staticmethod
    def getCarthesianFromMessage(message):
        carthesianA = Trigo.toCarthesian(
            {'distance': float(message.getDistance()),
             'angle': float(message.getAngle())})

        carthesianO = {'x': float(message.getContent()[0]),
                       'y': float(message.getContent()[1])}
        return Trigo.getCarthesianTarget(carthesianA, carthesianO)

    @staticmethod
    def getCarthesianAgentFromMessage(message):
        agent = Trigo.getCarthesianFromMessage(message)
        agent['heading'] = (float(message.getContent()[2]) + 360) % 360
        agent['type'] = str(message.getContent()[3])
        agent['id'] = int(message.getContent()[4])
        return agent

    @staticmethod
    def toCarthesian(polar):
        return {'x': polar['distance'] * cos(radians(polar['angle'])),
                'y': polar['distance'] * sin(radians(polar['angle']))}

    @staticmethod
    def toPolar(carthesian):
        return {'distance': hypot(carthesian['x'], carthesian['y']),
                'angle': (degrees(atan2(carthesian['y'], carthesian['x'])) +
                          360) % 360}

    @staticmethod
    def roundCoordinates(carthesian):
        carthesian['x'] = Trigo.myfloor(carthesian['x'])
        carthesian['y'] = Trigo.myfloor(carthesian['y'])
        return carthesian

    @staticmethod
    def myfloor(x):
        return int(5 * round(float(x) / 5))

    @staticmethod
    def diffAngle(firstAngle, secondAngle):
        return abs((firstAngle - secondAngle + 180 + 360) % 360 - 180)

    @staticmethod
    def inView(viewAngle, angleOfView, targetAngle):
        return Trigo.diffAngle(viewAngle, targetAngle) < (angleOfView / 2)