cvra/beacons — pull request #1 by 31415us (2014-07-02 20:50:53+00:00)
Title: Convert angles to cartesian coordinates (DONT MERGE)

Finally implemented function to convert angles relative to triangle to cartesian coordinates (based on http://forumgeom.fau.edu/FG2009volume9/FG200921.pdf)
Please review
(build occasionally breaks due to floating point errors and randomized testing)