ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Map/Map.h@119:c45efcd706d9, 2015-05-06 (annotated)

Committer:
Jagang
Date:
Wed May 06 15:17:16 2015 +0000
Revision:
119:c45efcd706d9
Parent:
109:53918ba98306
Child:
120:06643cbec98a
Modif asserv B; Impl?mentation de l'IA et des objectifs (Ramasser PC et d?poser)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 109:53918ba98306 1 #ifndef MAP_H
Jagang 109:53918ba98306 2 #define MAP_H
Jagang 13:ae5718ac8511 3
Jagang 109:53918ba98306 4 #include "defines.h"
Jagang 13:ae5718ac8511 5
Jagang 13:ae5718ac8511 6 #include "Obstacle.h"
Jagang 109:53918ba98306 7 #include "Point.h"
Jagang 109:53918ba98306 8 #include <vector>
Jagang 12:235b5545ff41 9
Jagang 109:53918ba98306 10 #define DIAG_COST 0.7071067/2
Jagang 109:53918ba98306 11 #define NDIAG_COST 0.5/2
Jagang 109:53918ba98306 12
Jagang 119:c45efcd706d9 13 #define LOG_LEVEL 4 //4 debug(very slow) - 3 errors/warnings/infos - 2 errors/warnings - 1 errors - 0 none
Jagang 109:53918ba98306 14 #define LOG_ASTAR 1
Jagang 119:c45efcd706d9 15 #define LOG_TENDEUR 0
Jagang 109:53918ba98306 16
Jagang 109:53918ba98306 17
Jagang 109:53918ba98306 18
Jagang 109:53918ba98306 19 class SimplePoint
Jagang 109:53918ba98306 20 {
Jagang 109:53918ba98306 21 public:
Jagang 109:53918ba98306 22 SimplePoint(float x, float y) : x(x),y(y) {}
Jagang 109:53918ba98306 23 SimplePoint(const SimplePoint &p) : x(p.x),y(p.y) {}
Jagang 109:53918ba98306 24 bool operator!=(SimplePoint& p) {return x!=p.x||y!=p.y;}
Jagang 109:53918ba98306 25 virtual ~SimplePoint() {}
Jagang 109:53918ba98306 26 float x,y;
Jagang 109:53918ba98306 27 };
Jagang 12:235b5545ff41 28
Jagang 12:235b5545ff41 29 class Map
Jagang 12:235b5545ff41 30 {
Jagang 12:235b5545ff41 31 public:
Jagang 13:ae5718ac8511 32 Map();
Jagang 109:53918ba98306 33 ~Map();
Jagang 109:53918ba98306 34 void build();
Jagang 109:53918ba98306 35
Jagang 109:53918ba98306 36 int getHeight(float x, float y);
Jagang 109:53918ba98306 37
Jagang 109:53918ba98306 38 // mpc : metre par case, par defaut chaque case fait 10cm
Jagang 109:53918ba98306 39 // Position en mm !!
Jagang 109:53918ba98306 40 char AStar(float x, float y, float goal_x, float goal_y, float mpc=100);
Jagang 109:53918ba98306 41
Jagang 109:53918ba98306 42
Jagang 109:53918ba98306 43 std::vector<SimplePoint> path;
Jagang 13:ae5718ac8511 44 private:
Jagang 109:53918ba98306 45 std::vector<Obstacle*> obstacles;
Jagang 12:235b5545ff41 46 };
Jagang 12:235b5545ff41 47
Jagang 13:ae5718ac8511 48
Jagang 13:ae5718ac8511 49 #endif