Diff: AigamozuControlPackets.h

Revision:

19:13b24b50800e

Parent:

17:a6fa8cc96d94

Child:

20:fec2d6dec897

--- a/AigamozuControlPackets.h	Tue May 12 11:36:12 2015 +0000
+++ b/AigamozuControlPackets.h	Wed May 13 04:08:12 2015 +0000
@@ -11,6 +11,8 @@
 
 #define vertex2D vector2D
 
+#define BASENUMBER 10
+
 enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R',RECEIVE_KALMAN = 'K'};
 enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1,GPS_OUT_AREA = 2};
@@ -68,9 +70,9 @@
     
     
     void reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL);
-    void reNewBasePointKalman(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL);
+    void reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude);
     void reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL);
-    void reNewBasePoint(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL);
+    void reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude);
     
     double get_agzPoint_lati();
     double get_agzPoint_longi();
@@ -78,7 +80,11 @@
     double get_agzPointKalman_longi();
     double get_agzCov_lati();
     double get_agzCov_longi();
-        
+    double get_basePoint_lati(int);
+    double get_basePoint_longi(int);
+    double get_basePointKalman_lati(int);
+    double get_basePointKalman_longi(int);
+    
     void set_agzCov(double cov_lati,double cov_longi);
     //--------PRIVATE-----------//
     private:
@@ -101,8 +107,8 @@
     vector2D sub_vector( const vector2D& a, const vector2D& b );
     bool checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P);
     
-    vector2D basePoint[4];//ベースの位置の情報（double型）
-    vector2D basePointKalman[4];
+    vector2D basePoint[BASENUMBER];//ベースの位置の情報（double型）
+    vector2D basePointKalman[BASENUMBER];
     
     };