Revision bdac5bec devices/DiWheelDrive/amiro_map.hpp

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devices/DiWheelDrive/amiro_map.hpp
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#include <amiroosconf.h>
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#include <ch.hpp>
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namespace amiro {


  		




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  struct node {


  		




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    // Next node ID


  		




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    uint8_t next;


  		




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    //Traveled Distance between current and next in %


  		




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    uint8_t dist;


  		




  
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    uint32_t dist;


  		




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    // True if the current loaded map is valid


  		




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    bool valid;


  		




  
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    // Length of the currently traveled edge


  		




  
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    uint32_t eLength;


  		




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  };


  		




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class AmiroMap {


  		




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   *


  		




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   *


  		




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   */


  		




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  void update(LineFollowStrategy strategy);


  		




  
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  uint8_t update(uint16_t WL, uint16_t WR, LineFollowStrategy strategy);


  		




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private:


  		




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  Global *global;


  		




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   *


  		




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   */


  		




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  void visitNode(uint8_t id);


  		




  
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  /**


  		




  
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   *  Calculate the distance between two given points


  		




  
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   *


  		




  
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   *  @param p1 point 1


  		




  
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   *  @param p2 point 2


  		




  
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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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}; // namespace amiro


  		




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