Romain Ame / Mbed 2 deprecated Robot2016_2-0_STATIC

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Dependencies:   RoboClaw StepperMotor mbed

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Map/Obstacles/Obs_rect.cpp@11:9c70a7f4d7aa, 2016-01-05 (annotated)

Committer:
IceTeam
Date:
Tue Jan 05 15:48:25 2016 +0100
Revision:
11:9c70a7f4d7aa
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UserRevisionLine numberNew contents of line
IceTeam 11:9c70a7f4d7aa 1 #include "Obs_rect.h"
IceTeam 11:9c70a7f4d7aa 2
IceTeam 11:9c70a7f4d7aa 3 Obs_rect::Obs_rect(float robotRadius, int id, float x1, float y1, float x2, float y2):Obstacle(robotRadius,id)
IceTeam 11:9c70a7f4d7aa 4 {
IceTeam 11:9c70a7f4d7aa 5 this->x1 = (x1<x2) ? x1:x2;
IceTeam 11:9c70a7f4d7aa 6 this->x2 = (x1<x2) ? x2:x1;
IceTeam 11:9c70a7f4d7aa 7 this->y1 = (y1<y2) ? y1:y2;
IceTeam 11:9c70a7f4d7aa 8 this->y2 = (y1<y2) ? y2:y1;
IceTeam 11:9c70a7f4d7aa 9 }
IceTeam 11:9c70a7f4d7aa 10
IceTeam 11:9c70a7f4d7aa 11 int Obs_rect::height(float x, float y)
IceTeam 11:9c70a7f4d7aa 12 {
IceTeam 11:9c70a7f4d7aa 13 if(!active)
IceTeam 11:9c70a7f4d7aa 14 return 0;
IceTeam 11:9c70a7f4d7aa 15 if(bigShape)
IceTeam 11:9c70a7f4d7aa 16 {
IceTeam 11:9c70a7f4d7aa 17 if(x1 - robotRadius < x && x < x2 + robotRadius && y1 - robotRadius < y && y < y2 + robotRadius)
IceTeam 11:9c70a7f4d7aa 18 return 32000; // Dans le grand rctangle
IceTeam 11:9c70a7f4d7aa 19 }
IceTeam 11:9c70a7f4d7aa 20 else
IceTeam 11:9c70a7f4d7aa 21 {
IceTeam 11:9c70a7f4d7aa 22 if(x1 < x && x < x2 && y1 < y && y < y2)
IceTeam 11:9c70a7f4d7aa 23 return 32000; // Dans le petit rectangle
IceTeam 11:9c70a7f4d7aa 24 }
IceTeam 11:9c70a7f4d7aa 25 return 0;
IceTeam 11:9c70a7f4d7aa 26 }