ARES / Mbed 2 deprecated TestMyPathFind

Test du path finding

Dependencies:   RoboClaw mbed

Fork of TestMyPathFind by Romain Ame

map/pointParcours.h@41:53d5990ff99d, 2016-04-13 (annotated)

Committer:
IceTeam
Date:
Wed Apr 13 16:17:19 2016 +0000
Revision:
41:53d5990ff99d
Parent:
39:ca4dd3faffa8 
Correction odometrie;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 39:ca4dd3faffa8 1 #ifndef POINTPARCOURS_H
IceTeam 39:ca4dd3faffa8 2 #define POINTPARCOURS_H
IceTeam 39:ca4dd3faffa8 3 #include "math.h"
IceTeam 39:ca4dd3faffa8 4
IceTeam 39:ca4dd3faffa8 5 #include "controle.h"
IceTeam 39:ca4dd3faffa8 6 #include "point.h"
IceTeam 39:ca4dd3faffa8 7
IceTeam 39:ca4dd3faffa8 8 typedef struct PP4 PointsParc4;
IceTeam 39:ca4dd3faffa8 9
IceTeam 39:ca4dd3faffa8 10 class pointParcours : public point {
IceTeam 39:ca4dd3faffa8 11 public:
IceTeam 39:ca4dd3faffa8 12 pointParcours (float nx, float ny, pointParcours * npere, point *arr) : point (nx, ny) {
IceTeam 39:ca4dd3faffa8 13 if (npere != NULL)
IceTeam 39:ca4dd3faffa8 14 G2 = sqrt(npere->getG2() + calculDistance2 (nx, ny, npere->getX(), npere->getY ()));
IceTeam 39:ca4dd3faffa8 15 else
IceTeam 39:ca4dd3faffa8 16 G2 = 0;
IceTeam 39:ca4dd3faffa8 17 pere = npere;
IceTeam 39:ca4dd3faffa8 18 H2 = sqrt (calculDistance2 (nx, ny, arr->getX (), arr->getY ()));
IceTeam 39:ca4dd3faffa8 19 }
IceTeam 39:ca4dd3faffa8 20
IceTeam 39:ca4dd3faffa8 21 pointParcours (point p, pointParcours * npere, point *arr) : point (p) {
IceTeam 39:ca4dd3faffa8 22 if (pere != NULL)
IceTeam 39:ca4dd3faffa8 23 G2 = npere->getG2 () + calculDistance2 (p.getX(), p.getY(), npere->getX (), npere->getY ());
IceTeam 39:ca4dd3faffa8 24 else
IceTeam 39:ca4dd3faffa8 25 G2 = 0;
IceTeam 39:ca4dd3faffa8 26 pere = npere;
IceTeam 39:ca4dd3faffa8 27
IceTeam 39:ca4dd3faffa8 28 H2 = sqrt(calculDistance2 (p.getX (), p.getY (), arr->getX (), arr->getY ()));
IceTeam 39:ca4dd3faffa8 29 }
IceTeam 39:ca4dd3faffa8 30
IceTeam 39:ca4dd3faffa8 31 pointParcours * getPere () { return pere; }
IceTeam 39:ca4dd3faffa8 32
IceTeam 39:ca4dd3faffa8 33 long double getG2 () { return G2; }
IceTeam 39:ca4dd3faffa8 34 long double getH2 () { return H2; }
IceTeam 39:ca4dd3faffa8 35 long double getP2 () { return G2 + H2; }
IceTeam 39:ca4dd3faffa8 36
IceTeam 39:ca4dd3faffa8 37 bool operator==(pointParcours& a) {
IceTeam 39:ca4dd3faffa8 38 // Autre version : return (x == a.getX () && y == a.getY () && a.getP2 () == G2 + H2);
IceTeam 39:ca4dd3faffa8 39 return (x == a.getX () && y == a.getY ());
IceTeam 39:ca4dd3faffa8 40 }
IceTeam 39:ca4dd3faffa8 41
IceTeam 39:ca4dd3faffa8 42 bool operator==(point& a) {
IceTeam 39:ca4dd3faffa8 43 return (x == a.getX () && y == a.getY ());
IceTeam 39:ca4dd3faffa8 44 }
IceTeam 39:ca4dd3faffa8 45
IceTeam 39:ca4dd3faffa8 46 protected:
IceTeam 39:ca4dd3faffa8 47 pointParcours * pere;
IceTeam 39:ca4dd3faffa8 48 long double G2, H2;
IceTeam 39:ca4dd3faffa8 49 };
IceTeam 39:ca4dd3faffa8 50
IceTeam 39:ca4dd3faffa8 51 struct PP4 {
IceTeam 39:ca4dd3faffa8 52 pointParcours p0;
IceTeam 39:ca4dd3faffa8 53 pointParcours p1;
IceTeam 39:ca4dd3faffa8 54 pointParcours p2;
IceTeam 39:ca4dd3faffa8 55 pointParcours p3;
IceTeam 39:ca4dd3faffa8 56 };
IceTeam 39:ca4dd3faffa8 57
IceTeam 39:ca4dd3faffa8 58 #endif