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Dependencies: VNH5019
Fork of AigamozuControlPackets by
Diff: AigamozuControlPackets.h
- Revision:
- 7:200ce5c1f486
- Parent:
- 6:f164a716be46
- Child:
- 8:aff2d67d31c8
diff -r f164a716be46 -r 200ce5c1f486 AigamozuControlPackets.h --- a/AigamozuControlPackets.h Mon Jun 09 00:16:38 2014 +0000 +++ b/AigamozuControlPackets.h Wed Jun 18 13:50:04 2014 +0000 @@ -9,6 +9,8 @@ #define CHANGE_MODE_COMMAND_LENGTH 12 #define RECEIVE_STATUS_COMMNAD_LENGTH 32 +#define vertex2D vector2D + enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'}; 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}; @@ -17,7 +19,12 @@ long a; uint8_t b[4]; }; - + +struct vector2D{ + double x; + double y; + }; + class AigamozuControlPackets{ //--------PUBLIC-----------// @@ -54,6 +61,8 @@ int packetLength; + void reNewPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL); + //--------PRIVATE-----------// private: // @@ -68,6 +77,13 @@ //Auto Type 2 -> GPS void gpsAuto(); + + vector2D agzPoint; + vector2D sub_vector( const vector2D& a, const vector2D& b ); + bool checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P); + + vector2D basePoint[4]; + }; #endif \ No newline at end of file