Romain Ame / Mbed 2 deprecated Robot2016_2-0_STATIC

Voili voilou

Dependencies:   RoboClaw StepperMotor mbed

Fork of Robot2016_2-0 by ARES

Map/figure.h@46:8eae88c45a78, 2016-04-20 (annotated)

Committer:
IceTeam
Date:
Wed Apr 20 13:13:37 2016 +0000
Revision:
46:8eae88c45a78
Mise en static;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 46:8eae88c45a78 1 #ifndef FIGURE_H
IceTeam 46:8eae88c45a78 2 #define FIGURE_H
IceTeam 46:8eae88c45a78 3
IceTeam 46:8eae88c45a78 4 #include "point.h"
IceTeam 46:8eae88c45a78 5
IceTeam 46:8eae88c45a78 6 class figure {
IceTeam 46:8eae88c45a78 7 public:
IceTeam 46:8eae88c45a78 8 figure(float xc, float yc) {
IceTeam 46:8eae88c45a78 9 xcentre = xc;
IceTeam 46:8eae88c45a78 10 ycentre = yc;
IceTeam 46:8eae88c45a78 11 }
IceTeam 46:8eae88c45a78 12
IceTeam 46:8eae88c45a78 13 float getX () { return xcentre; }
IceTeam 46:8eae88c45a78 14 float getY () { return ycentre; }
IceTeam 46:8eae88c45a78 15
IceTeam 46:8eae88c45a78 16 bool CroisementSegment (point A1, point A2, point B1, point B2) {
IceTeam 46:8eae88c45a78 17 if (ProdVect (A1, A2, B1, B2) != 0) { // On verifie que les droites ne sont pas parallèles
IceTeam 46:8eae88c45a78 18 if (ProdVect (A1, A2, A1, B2)*ProdVect (A1, A2, A1, B1) <= 0
IceTeam 46:8eae88c45a78 19 && ProdVect (B1, B2, B1, A1)*ProdVect (B1, B2, B1, A2) <= 0) {
IceTeam 46:8eae88c45a78 20 return true;
IceTeam 46:8eae88c45a78 21 }
IceTeam 46:8eae88c45a78 22 else {
IceTeam 46:8eae88c45a78 23 return false;
IceTeam 46:8eae88c45a78 24 }
IceTeam 46:8eae88c45a78 25 }
IceTeam 46:8eae88c45a78 26 else {
IceTeam 46:8eae88c45a78 27 return false;
IceTeam 46:8eae88c45a78 28 }
IceTeam 46:8eae88c45a78 29 }
IceTeam 46:8eae88c45a78 30
IceTeam 46:8eae88c45a78 31 protected:
IceTeam 46:8eae88c45a78 32 float xcentre, ycentre;
IceTeam 46:8eae88c45a78 33
IceTeam 46:8eae88c45a78 34 float ProdVect (float x1, float y1, float x2, float y2, float x3, float y3, float x4, float y4) {
IceTeam 46:8eae88c45a78 35 return ((x2 - x1)*(y4 - y3) - (y2 - y1)*(x4 - x3));
IceTeam 46:8eae88c45a78 36 }
IceTeam 46:8eae88c45a78 37 float ProdVect (point A1, point A2, point B1, point B2) {
IceTeam 46:8eae88c45a78 38 return ProdVect (A1.getX(), A1.getY (), A2.getX (), A2.getY (), B1.getX (), B1.getY (), B2.getX (), B2.getY ());
IceTeam 46:8eae88c45a78 39 }
IceTeam 46:8eae88c45a78 40 };
IceTeam 46:8eae88c45a78 41 #endif