Romain Ame / Mbed 2 deprecated Stressed

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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

Map/figure.h@46:be4eebf40568, 2016-04-25 (annotated)

Committer:
IceTeam
Date:
Mon Apr 25 12:42:32 2016 +0000
Revision:
46:be4eebf40568
Petit commit de batard;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 46:be4eebf40568 1 #ifndef FIGURE_H
IceTeam 46:be4eebf40568 2 #define FIGURE_H
IceTeam 46:be4eebf40568 3
IceTeam 46:be4eebf40568 4 #include "point.h"
IceTeam 46:be4eebf40568 5
IceTeam 46:be4eebf40568 6 class figure {
IceTeam 46:be4eebf40568 7 public:
IceTeam 46:be4eebf40568 8 figure(float xc, float yc) {
IceTeam 46:be4eebf40568 9 xcentre = xc;
IceTeam 46:be4eebf40568 10 ycentre = yc;
IceTeam 46:be4eebf40568 11 }
IceTeam 46:be4eebf40568 12
IceTeam 46:be4eebf40568 13 float getX () { return xcentre; }
IceTeam 46:be4eebf40568 14 float getY () { return ycentre; }
IceTeam 46:be4eebf40568 15
IceTeam 46:be4eebf40568 16 bool CroisementSegment (point A1, point A2, point B1, point B2) {
IceTeam 46:be4eebf40568 17 if (ProdVect (A1, A2, B1, B2) != 0) { // On verifie que les droites ne sont pas parallèles
IceTeam 46:be4eebf40568 18 if (ProdVect (A1, A2, A1, B2)*ProdVect (A1, A2, A1, B1) <= 0
IceTeam 46:be4eebf40568 19 && ProdVect (B1, B2, B1, A1)*ProdVect (B1, B2, B1, A2) <= 0) {
IceTeam 46:be4eebf40568 20 return true;
IceTeam 46:be4eebf40568 21 }
IceTeam 46:be4eebf40568 22 else {
IceTeam 46:be4eebf40568 23 return false;
IceTeam 46:be4eebf40568 24 }
IceTeam 46:be4eebf40568 25 }
IceTeam 46:be4eebf40568 26 else {
IceTeam 46:be4eebf40568 27 return false;
IceTeam 46:be4eebf40568 28 }
IceTeam 46:be4eebf40568 29 }
IceTeam 46:be4eebf40568 30
IceTeam 46:be4eebf40568 31 protected:
IceTeam 46:be4eebf40568 32 float xcentre, ycentre;
IceTeam 46:be4eebf40568 33
IceTeam 46:be4eebf40568 34 float ProdVect (float x1, float y1, float x2, float y2, float x3, float y3, float x4, float y4) {
IceTeam 46:be4eebf40568 35 return ((x2 - x1)*(y4 - y3) - (y2 - y1)*(x4 - x3));
IceTeam 46:be4eebf40568 36 }
IceTeam 46:be4eebf40568 37 float ProdVect (point A1, point A2, point B1, point B2) {
IceTeam 46:be4eebf40568 38 return ProdVect (A1.getX(), A1.getY (), A2.getX (), A2.getY (), B1.getX (), B1.getY (), B2.getX (), B2.getY ());
IceTeam 46:be4eebf40568 39 }
IceTeam 46:be4eebf40568 40 };
IceTeam 46:be4eebf40568 41 #endif