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Dependencies:   mbed

Map/Map.h@0:b127c787a51b, 2015-05-24 (annotated)

Committer:
Jagang
Date:
Sun May 24 12:30:47 2015 +0000
Revision:
0:b127c787a51b
Nettoyage du code d'asserv.; L'asserv ne fonctionne plus, juste test, moteurs ? 20% sur 1m

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:b127c787a51b 1 #ifndef MAP_H
Jagang 0:b127c787a51b 2 #define MAP_H
Jagang 0:b127c787a51b 3
Jagang 0:b127c787a51b 4 #include "includes.h"
Jagang 0:b127c787a51b 5
Jagang 0:b127c787a51b 6 #include "Obstacle.h"
Jagang 0:b127c787a51b 7 #include "Point.h"
Jagang 0:b127c787a51b 8 #include <vector>
Jagang 0:b127c787a51b 9
Jagang 0:b127c787a51b 10 #define DIAG_COST 0.7071067/2
Jagang 0:b127c787a51b 11 #define NDIAG_COST 0.5/2
Jagang 0:b127c787a51b 12
Jagang 0:b127c787a51b 13 #define LOG_LEVEL 2 //4 debug(very slow) - 3 errors/warnings/infos - 2 errors/warnings - 1 errors - 0 none
Jagang 0:b127c787a51b 14 #define LOG_ASTAR 1
Jagang 0:b127c787a51b 15 #define LOG_TENDEUR 1
Jagang 0:b127c787a51b 16
Jagang 0:b127c787a51b 17
Jagang 0:b127c787a51b 18
Jagang 0:b127c787a51b 19 class SimplePoint
Jagang 0:b127c787a51b 20 {
Jagang 0:b127c787a51b 21 public:
Jagang 0:b127c787a51b 22 SimplePoint(float x, float y) : x(x),y(y) {}
Jagang 0:b127c787a51b 23 SimplePoint(const SimplePoint &p) : x(p.x),y(p.y) {}
Jagang 0:b127c787a51b 24 bool operator!=(SimplePoint& p) {return x!=p.x||y!=p.y;}
Jagang 0:b127c787a51b 25 virtual ~SimplePoint() {}
Jagang 0:b127c787a51b 26 float x,y;
Jagang 0:b127c787a51b 27 };
Jagang 0:b127c787a51b 28
Jagang 0:b127c787a51b 29 class Map
Jagang 0:b127c787a51b 30 {
Jagang 0:b127c787a51b 31 public:
Jagang 0:b127c787a51b 32 Map();
Jagang 0:b127c787a51b 33 ~Map();
Jagang 0:b127c787a51b 34 void build();
Jagang 0:b127c787a51b 35
Jagang 0:b127c787a51b 36 int getHeight(float x, float y);
Jagang 0:b127c787a51b 37
Jagang 0:b127c787a51b 38 // mpc : metre par case, par defaut chaque case fait 10cm
Jagang 0:b127c787a51b 39 // Position en mm !!
Jagang 0:b127c787a51b 40 char AStar(float x, float y, float goal_x, float goal_y, float mpc=100);
Jagang 0:b127c787a51b 41
Jagang 0:b127c787a51b 42
Jagang 0:b127c787a51b 43 std::vector<SimplePoint> path;
Jagang 0:b127c787a51b 44 std::vector<Obstacle*> obstacles;
Jagang 0:b127c787a51b 45 private:
Jagang 0:b127c787a51b 46 };
Jagang 0:b127c787a51b 47
Jagang 0:b127c787a51b 48
Jagang 0:b127c787a51b 49 #endif