Voili voilou
Dependencies: RoboClaw StepperMotor mbed
Fork of Robot2016_2-0 by
Map/figure.h
- Committer:
- IceTeam
- Date:
- 2016-04-20
- Revision:
- 46:8eae88c45a78
File content as of revision 46:8eae88c45a78:
#ifndef FIGURE_H #define FIGURE_H #include "point.h" class figure { public: figure(float xc, float yc) { xcentre = xc; ycentre = yc; } float getX () { return xcentre; } float getY () { return ycentre; } bool CroisementSegment (point A1, point A2, point B1, point B2) { if (ProdVect (A1, A2, B1, B2) != 0) { // On verifie que les droites ne sont pas parallèles if (ProdVect (A1, A2, A1, B2)*ProdVect (A1, A2, A1, B1) <= 0 && ProdVect (B1, B2, B1, A1)*ProdVect (B1, B2, B1, A2) <= 0) { return true; } else { return false; } } else { return false; } } protected: float xcentre, ycentre; float ProdVect (float x1, float y1, float x2, float y2, float x3, float y3, float x4, float y4) { return ((x2 - x1)*(y4 - y3) - (y2 - y1)*(x4 - x3)); } float ProdVect (point A1, point A2, point B1, point B2) { return ProdVect (A1.getX(), A1.getY (), A2.getX (), A2.getY (), B1.getX (), B1.getY (), B2.getX (), B2.getY ()); } }; #endif