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Dependencies: RoboClaw StepperMotor mbed
Fork of Robot2016_2-0 by
figure.h
00001 #ifndef FIGURE_H 00002 #define FIGURE_H 00003 00004 #include "point.h" 00005 00006 class figure { 00007 public: 00008 figure(float xc, float yc) { 00009 xcentre = xc; 00010 ycentre = yc; 00011 } 00012 00013 float getX () { return xcentre; } 00014 float getY () { return ycentre; } 00015 00016 bool CroisementSegment (point A1, point A2, point B1, point B2) { 00017 if (ProdVect (A1, A2, B1, B2) != 0) { // On verifie que les droites ne sont pas parallèles 00018 if (ProdVect (A1, A2, A1, B2)*ProdVect (A1, A2, A1, B1) <= 0 00019 && ProdVect (B1, B2, B1, A1)*ProdVect (B1, B2, B1, A2) <= 0) { 00020 return true; 00021 } 00022 else { 00023 return false; 00024 } 00025 } 00026 else { 00027 return false; 00028 } 00029 } 00030 00031 protected: 00032 float xcentre, ycentre; 00033 00034 float ProdVect (float x1, float y1, float x2, float y2, float x3, float y3, float x4, float y4) { 00035 return ((x2 - x1)*(y4 - y3) - (y2 - y1)*(x4 - x3)); 00036 } 00037 float ProdVect (point A1, point A2, point B1, point B2) { 00038 return ProdVect (A1.getX(), A1.getY (), A2.getX (), A2.getY (), B1.getX (), B1.getY (), B2.getX (), B2.getY ()); 00039 } 00040 }; 00041 #endif
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