ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Diff: Map/Obstacles/Obs_rect.cpp

Revision:
109:53918ba98306
Child:
123:55e5e9acc541
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map/Obstacles/Obs_rect.cpp	Tue May 05 16:35:53 2015 +0000
@@ -0,0 +1,24 @@
+#include "Obs_rect.h"
+
+Obs_rect::Obs_rect(float robotRadius, float x1, float y1, float x2, float y2):Obstacle(robotRadius)
+{
+    this->x1 = (x1<x2) ? x1:x2;
+    this->x2 = (x1<x2) ? x2:x1;
+    this->y1 = (y1<y2) ? y1:y2;
+    this->y2 = (y1<y2) ? y2:y1;
+}
+
+int Obs_rect::height(float x, float y)
+{
+    if(bigShape)
+    {
+        if(x1 - robotRadius < x && x < x2 + robotRadius && y1 - robotRadius < y && y < y2 + robotRadius)
+            return 32000; // Dans le grand rctangle
+    }
+    else
+    {
+        if(x1 < x && x < x2 && y1 < y && y < y2)
+            return 32000; // Dans le petit rectangle
+    }
+    return 0;
+}