<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN"
"http://www.w3.org/TR/html4/strict.dtd">
<html>
<!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ -->
<HEAD>
<meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8">
<meta name="keywords" content="stage, robot, simulation, player, player/stage">
<link href="doxygen.css" rel="stylesheet" type="text/css">
<style type="text/css">
.floatright { float: right; margin: 0 0 1em 1em; }
body {
font-family: sans-serif;
#font-family: Geneva, Verdana, Helvetica, Arial, sans-serif;
background-color: #FFF;
color:#000;
}
a:link {
color: #A00;
}
a:visited {
color: #800;
}
a { text-decoration: none; }
a:hover { text-decoration: underline; }
.timestamp { text-align:right; background-color: #DDD; font-size:75%;}
h1 {
font-size:160%;
}
h2 {
font-size:110%;
#color: #FFF;
#background-color: #666;
#padding:3px;
}
h3 { text-align:left; }
img {
border: 0;
}
ul.menu {
position:relative;
left:-2.5em;
margin-bottom:0px;
margin-top:0px;
}
ul.menu1 {
position:relative;
left:-2.1em;
margin-bottom:0px;
margin-top:0px;
}
li.menu {
list-style-type: none;
position:relative;
#left:-0.5em;
}
#sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;}
#content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }
div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; }
div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;}
div.topbar { position: absolute; top:0px; left:9em; margin:1em; }
</style>
<TITLE>Player Manual</TITLE>
</HEAD>
<body>
<div id="sidebar">
<h2 style="text-align:center;">
<a href="index.html">
<img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a>
</h2>
<div class="box">
<div class=title>Player</div>
<ul class=menu>
<li class=menu><a href="index.html">Frontpage</a>
<li class=menu><a href="modules.html">Contents</a>
</ul>
</div>
<div class="box">
<div class=title>User</div>
<ul class=menu>
<li class=menu><a href="install.html">Installation</a>
<li class=menu><a href="start.html">Quick start</a>
<li class=menu><a href="supported_hardware.html">Supported devices</a>
<li class=menu><a href="group__tutorials.html">Tutorials</a>
<li class=menu><a href="group__utils.html">Utilities</a>
<li class=menu><a href="group__clientlibs.html">Client libraries</a>
<li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a>
<li class=menu><a href="help.html">Help</a>
</ul>
</div>
<div class=box>
<div class="title">Developer</div>
<ul class=menu>
<li class=menu><a href="architecture.html">Architecture</a>
<li class=menu><a href="group__libplayercore.html">libplayercore</a>
<ul class=menu1>
<li class=menu><a href="group__interfaces.html">interfaces</a></li>
</ul>
<li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a>
<ul class=menu1>
<li class=menu><a href="group__drivers.html">drivers</a></li>
</ul>
<li class=menu><a href="group__libplayercommon.html">libplayercommon</a>
<li class=menu><a href="group__libplayerutils.html">libplayerutils</a>
<li class=menu><a href="group__libplayersd.html">libplayersd</a>
<li class=menu><a href="group__libplayertcp.html">libplayertcp</a>
<li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a>
<li class=menu><a href="todo.html">TODO</a>
</ul>
</div>
<div class=box>
<!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> -->
<div class="title">Online</div>
<a href="http://playerstage.sourceforge.net">Homepage</a><br>
<a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br>
<a href="http://sourceforge.net/projects/playerstage">Project</a><br>
<a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br>
<a href="http://sourceforge.net/mail/?group_id=42445">Help</a>
</div>
</div>
<div id="content" >
<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
<div class="headertitle">
<h1>calcul.h</h1> </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/***************************************************/</span>
<a name="l00002"></a>00002 <span class="comment">/* Last Revised: </span>
<a name="l00003"></a>00003 <span class="comment">$Id: calcul.h 8465 2009-12-16 00:44:13Z gbiggs $</span>
<a name="l00004"></a>00004 <span class="comment">*/</span>
<a name="l00005"></a>00005 <span class="comment">/***************************************************/</span>
<a name="l00006"></a>00006 <span class="comment">/*</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022 <span class="preprocessor">#ifndef Calcul</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="preprocessor">#define Calcul</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span>
<a name="l00025"></a>00025 <span class="preprocessor">#include <stdio.h></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include <math.h></span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "TData.h"</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00031"></a>00031 <span class="preprocessor">#endif</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="comment">/* </span>
<a name="l00034"></a>00034 <span class="comment"> Este fichero tiene operaciones de transformacion de sistemas de referencia, </span>
<a name="l00035"></a>00035 <span class="comment"> transformaciones de puntos entre sistemas, de paso de coordenadadas polares,</span>
<a name="l00036"></a>00036 <span class="comment"> a cartesianas y de corte de segmentos</span>
<a name="l00037"></a>00037 <span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment">*/</span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00041"></a>00041 <span class="comment">/* TRANSFORMACIONES DE PUNTO DE UN SISTEMA DE REFERENCIA A OTRO */</span>
<a name="l00042"></a>00042 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00045"></a>00045 <span class="comment">/* transfor_directa_p */</span>
<a name="l00046"></a>00046 <span class="comment">/* .... Hace la transformacion directa de un punto a un sistema a otro */</span>
<a name="l00047"></a>00047 <span class="comment">/* .... In: (x,y) las coordenadas del punto, sistema es el sistema de referencia */</span>
<a name="l00048"></a>00048 <span class="comment">/* .... Out: en sol se devuelve las coordenadas del punto en el nuevo sistema */</span>
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keywordtype">void</span> transfor_directa_p ( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <a class="code" href="structTsc.html">Tsc</a> *sistema, <a class="code" href="structTpf.html">Tpf</a> *sol );
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00053"></a>00053 <span class="comment">/* transfor_directa_p */</span>
<a name="l00054"></a>00054 <span class="comment">/* .... Hace la transformacion directa de un punto a un sistema a otro */</span>
<a name="l00055"></a>00055 <span class="comment">/* .... La diferencia es que aqui el punto de entrada es el (0,0) (optimiza la anterior) */</span>
<a name="l00056"></a>00056 <span class="comment">/* .... In: (x,y) las coordenadas del punto, sistema es el sistema de referencia */</span>
<a name="l00057"></a>00057 <span class="comment">/* .... Out: en sol se devuelve las coordenadas del punto en el nuevo sistema */</span>
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keywordtype">void</span> transfor_directa_pt0(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,
<a name="l00060"></a>00060 <a class="code" href="structTsc.html">Tsc</a> *sistema, <a class="code" href="structTpf.html">Tpf</a> *sol);
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00063"></a>00063 <span class="comment">/* transfor_inversa_p */</span>
<a name="l00064"></a>00064 <span class="comment">/* .... Hace la transformacion inversa de un punto a un sistema a otro */</span>
<a name="l00065"></a>00065 <span class="comment">/* .... In: (x,y) las coordenadas del punto, sistema es el sistema de referencia */</span>
<a name="l00066"></a>00066 <span class="comment">/* .... Out: en sol se devuelve las coordenadas del punto en el nuevo sistema */</span>
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keywordtype">void</span> transfor_inversa_p ( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <a class="code" href="structTsc.html">Tsc</a> *sistema, <a class="code" href="structTpf.html">Tpf</a> *sol );
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00071"></a>00071 <span class="comment">/* TRANSFORMACIONES DE COMPOSICION E INVERSION DE SISTEMAS DE REFERENCIA */</span>
<a name="l00072"></a>00072 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00075"></a>00075 <span class="comment">/* composicion_sis */</span>
<a name="l00076"></a>00076 <span class="comment">/* .... Realiza la composicion de sistemas de referencia en otro sistema */</span>
<a name="l00077"></a>00077 <span class="comment">/* .... In: compone sis1 y sis2 */</span>
<a name="l00078"></a>00078 <span class="comment">/* .... Out: la salida sisOut es el resultado de la composicion de los sistemas */</span>
<a name="l00079"></a>00079 <span class="comment">/* .... Nota: resulta muy importante el orden de las entradas en la composicion */</span>
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keywordtype">void</span> composicion_sis(<a class="code" href="structTsc.html">Tsc</a> *sis1,<a class="code" href="structTsc.html">Tsc</a> *sis2,<a class="code" href="structTsc.html">Tsc</a> *sisOut);
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00084"></a>00084 <span class="comment">/* inversion_sis */</span>
<a name="l00085"></a>00085 <span class="comment">/* .... Realiza la inversion de un sistema de referencia */</span>
<a name="l00086"></a>00086 <span class="comment">/* .... In: sisIn es el sistema a invertir */</span>
<a name="l00087"></a>00087 <span class="comment">/* .... Out: sisOut es el sistema invertido */</span>
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordtype">void</span> inversion_sis(<a class="code" href="structTsc.html">Tsc</a> *sisIn, <a class="code" href="structTsc.html">Tsc</a> *sisOut);
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00092"></a>00092 <span class="comment">/* TRANSFORMACIONES DE PUNTO DE UN SISTEMA DE REFERENCIA A OTRO */</span>
<a name="l00093"></a>00093 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00096"></a>00096 <span class="comment">/* car2pol */</span>
<a name="l00097"></a>00097 <span class="comment">/* .... Transforma un punto de coordenadas cartesianas a polares */</span>
<a name="l00098"></a>00098 <span class="comment">/* .... In: el punto en coordenadas cartesianas a transformar */</span>
<a name="l00099"></a>00099 <span class="comment">/* .... Out: el punto salida en coordenadas polares */</span>
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="keywordtype">void</span> car2pol(<a class="code" href="structTpf.html">Tpf</a> *in, <a class="code" href="structTpfp.html">Tpfp</a> *out);
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00104"></a>00104 <span class="comment">/* pol2car */</span>
<a name="l00105"></a>00105 <span class="comment">/* .... Transforma un punto de coordenadas polares a cartesianas */</span>
<a name="l00106"></a>00106 <span class="comment">/* .... In: el punto entrada en coordenadas polares a transformar */</span>
<a name="l00107"></a>00107 <span class="comment">/* .... Out: el punto en coordenadas cartesianas transformado */</span>
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="keywordtype">void</span> pol2car(<a class="code" href="structTpfp.html">Tpfp</a> *in, <a class="code" href="structTpf.html">Tpf</a> *out);
<a name="l00110"></a>00110
<a name="l00111"></a>00111 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00112"></a>00112 <span class="comment">/* TRANSFORMACIONES DE PUNTO DE UN SISTEMA DE REFERENCIA A OTRO */</span>
<a name="l00113"></a>00113 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">/* --------------------------------------------------------------------------------------- */</span>
<a name="l00116"></a>00116 <span class="comment">/* corte_segmentos */</span>
<a name="l00117"></a>00117 <span class="comment">/* .... Calcula el punto de corte entre dos segmentos */</span>
<a name="l00118"></a>00118 <span class="comment">/* .... In: las coordenadas de los puntos extremos (x1,y1)-(x2,y2) y (x3,y3)-(x4,y4) */</span>
<a name="l00119"></a>00119 <span class="comment">/* .... Out: sol son las coordenadas del punto de corte. return --> 1 si hay corte. -->0 no */</span>
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="keywordtype">int</span> corte_segmentos ( <span class="keywordtype">float</span> x1, <span class="keywordtype">float</span> y1, <span class="keywordtype">float</span> x2, <span class="keywordtype">float</span> y2,
<a name="l00122"></a>00122 <span class="keywordtype">float</span> x3, <span class="keywordtype">float</span> y3, <span class="keywordtype">float</span> x4, <span class="keywordtype">float</span> y4,
<a name="l00123"></a>00123 <a class="code" href="structTpf.html">Tpf</a> *sol );
<a name="l00124"></a>00124
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">/* Normaliza el angulo entre [-PI, PI] */</span>
<a name="l00127"></a>00127 <span class="keywordtype">float</span> NormalizarPI(<span class="keywordtype">float</span> ang);
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00130"></a>00130 <span class="preprocessor"></span>}
<a name="l00131"></a>00131 <span class="preprocessor">#endif</span>
<a name="l00132"></a>00132 <span class="preprocessor"></span>
<a name="l00133"></a>00133 <span class="preprocessor">#endif </span>
</pre></div></div>
</div>
<!-- render the modification time of the source file -->
<div class="timestamp">
<hr>
<table style="width:100%;">
<tr>
<td style="text-align:left;">
Last updated 12 September 2005 21:38:45
<!--
<td style="text-align:right;">
<a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://www.w3.org/Icons/valid-html401"
alt="Valid HTML 4.01!"></a>
<a href="http://jigsaw.w3.org/css-validator/">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://jigsaw.w3.org/css-validator/images/vcss"
alt="Valid CSS!">
</a>
-->
</tr>
</table>
</div>
</tr>
</table>
</BODY>
</HTML>
