ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Map/Obstacles/Obs_circle.cpp@109:53918ba98306, 2015-05-05 (annotated)

Committer:
Jagang
Date:
Tue May 05 16:35:53 2015 +0000
Revision:
109:53918ba98306
Child:
123:55e5e9acc541
IA

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 109:53918ba98306 1 #include "Obs_circle.h"
Jagang 109:53918ba98306 2
Jagang 109:53918ba98306 3 Obs_circle::Obs_circle(float robotRadius, float x, float y, float size):Obstacle(robotRadius)
Jagang 109:53918ba98306 4 {
Jagang 109:53918ba98306 5 this->x = x;
Jagang 109:53918ba98306 6 this->y = y;
Jagang 109:53918ba98306 7 this->size2 = size*size;
Jagang 109:53918ba98306 8 }
Jagang 109:53918ba98306 9
Jagang 109:53918ba98306 10 int Obs_circle::height(float x, float y)
Jagang 109:53918ba98306 11 {
Jagang 109:53918ba98306 12 float d = (x-this->x)*(x-this->x) + (y-this->y)*(y-this->y);
Jagang 109:53918ba98306 13 if(d <= size2) // On est dans le cercle
Jagang 109:53918ba98306 14 {
Jagang 109:53918ba98306 15 return 32000; // Interdit
Jagang 109:53918ba98306 16 }
Jagang 109:53918ba98306 17 else if(bigShape && d <= size2+robotRadius*robotRadius) // On est dans le grand cercle
Jagang 109:53918ba98306 18 {
Jagang 109:53918ba98306 19 if(!smoothBigShape)
Jagang 109:53918ba98306 20 return 32000; // Interdit
Jagang 109:53918ba98306 21 else
Jagang 109:53918ba98306 22 {
Jagang 109:53918ba98306 23 return 32000; // Interdit
Jagang 109:53918ba98306 24 }
Jagang 109:53918ba98306 25 }
Jagang 109:53918ba98306 26 return 0;
Jagang 109:53918ba98306 27 }