Haruna Nakazawa / AigamozuControlPackets_Nakazawa

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Dependencies:   VNH5019

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.h

Revision:
7:200ce5c1f486
Parent:
6:f164a716be46
Child:
8:aff2d67d31c8
--- a/AigamozuControlPackets.h	Mon Jun 09 00:16:38 2014 +0000
+++ b/AigamozuControlPackets.h	Wed Jun 18 13:50:04 2014 +0000
@@ -9,6 +9,8 @@
 #define CHANGE_MODE_COMMAND_LENGTH 12
 #define RECEIVE_STATUS_COMMNAD_LENGTH 32
 
+#define vertex2D vector2D
+
 enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'};
 enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1,GPS_OUT_AREA = 2};
@@ -17,7 +19,12 @@
     long a;
     uint8_t b[4];
     };
-    
+
+struct vector2D{
+    double x;
+    double y;
+    };
+
 class AigamozuControlPackets{
     
     //--------PUBLIC-----------//
@@ -54,6 +61,8 @@
     int packetLength;
     
     
+    void reNewPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL);
+    
     //--------PRIVATE-----------//
     private:
     //
@@ -68,6 +77,13 @@
     
     //Auto Type 2 -> GPS 
     void gpsAuto();
+    
+    vector2D agzPoint;
+    vector2D sub_vector( const vector2D& a, const vector2D& b );
+    bool checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P);
+    
+    vector2D basePoint[4];
+    
     };
     
 #endif
\ No newline at end of file