ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Map/map.h

Committer:
IceTeam
Date:
2016-05-04
Revision:
56:4fd9636dfb36
Parent:
55:dfeee9e5c0af
Child:
57:86f491f5b25d

File content as of revision 56:4fd9636dfb36:

#ifndef MAP_H
#define MAP_H

#include "obsCarr.h"
#include "pointParcours.h"
#include "nVector.h"
#include "controle.h"
#include "Odometry.h"
#include "../AX12/AX12.h"

#define MAP_RIGHTSIDE 1
#define MAP_LEFTSIDE 2

class map {
public:
    map (Odometry* nodo);
    void addObs (obsCarr nobs);
    void FindWay (point dep, point arr);
    void FindWay (float depX, float depY, float arrX, float arrY);
    void Execute (float XObjectif, float YObjectif);
    void Build(int couleur, int formation);
    nVector<pointParcours>& getParc () { return path; }
    bool& getEnded () { return endedParc; }

protected:
    nVector<obsCarr> obs;
    nVector<pointParcours> path;
    bool endedParc; // Definit s'il existe un chemin parcourable dans le dernier FindWay
    Odometry* Codo;

    float min_x_table, min_y_table, max_x_table, max_y_table;
};

#endif