forward
Dependencies: VNH5019
Fork of AigamozuControlPackets by
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]; };