Revision 3aee55de devices/DiWheelDrive/amiro_map.hpp
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#include "global.hpp" |
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#include "linefollow.hpp" |
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#include <amiroosconf.h> |
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#include <ch.hpp> |
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#include <cstdint> |
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#include <math.h> |
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namespace amiro {
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uint8_t flag; |
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uint8_t left; |
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uint8_t right; |
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union edge {
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struct edge_id{
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uint8_t left; |
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uint8_t right; |
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} edge_id; |
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uint8_t arr[2]; |
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} edge; |
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uint8_t visited; |
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types::position pL; // Left |
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types::position pR; // Right |
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types::position pB; // Back |
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union p{
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struct{types::position pL, pR, pB;} points;
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types::position arr[3]; |
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} p; |
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}; |
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struct map_state {
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Internally the update will be called. |
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If there are no nodes in the node list they will be created. |
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*/ |
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uint8_t trackUpdate(uint16_t WL, uint16_t WR, LineFollowStrategy strategy, ut_states state); |
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uint8_t trackUpdate(uint16_t WL, uint16_t WR, LineFollowStrategy strategy, ut_states ut_state); |
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private: |
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Global *global; |
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* |
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*/ |
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uint32_t calculateDist(types::position *p1, types::position *p2); |
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}; |
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// add node/fxp to the nodeList and return its id |
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uint8_t addNode(uint8_t l, uint8_t r, uint8_t flags); |
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// Calculate dist and elength if possibel |
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void calTravelState(); |
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// Check if all nodes have followers |
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// Calculate validity check |
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void checkMap(); |
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void switchToNext(types::position *p1); |
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// Copy contents of point from to point to (x, y, f_x) |
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void copyPoint(types::position *from, types::position *to); |
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// Create the first fxp with flag 1 |
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void createInitNode(); |
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uint8_t getNearest(types::position *p1); |
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// Either create new fxpoint or assign point to existing one |
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uint8_t assignFxp(types::position *p1); |
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}; |
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}; // namespace amiro |
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#endif /* AMIRO_MAP */ |
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