<!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; 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you can redistribute it and/or modify</span> <a name="l00012"></a>00012 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00013"></a>00013 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00014"></a>00014 <span class="comment"> * (at your option) any later version.</span> <a name="l00015"></a>00015 <span class="comment"> *</span> <a name="l00016"></a>00016 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00019"></a>00019 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00022"></a>00022 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00023"></a>00023 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00024"></a>00024 <span class="comment"> *</span> <a name="l00025"></a>00025 <span class="comment"> */</span> <a name="l00026"></a>00026 <span class="preprocessor">#ifndef nd2_h</span> <a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define nd2_h</span> <a name="l00028"></a>00028 <span class="preprocessor"></span> <a name="l00029"></a>00029 <span class="preprocessor">#include "geometria.h"</span> <a name="l00030"></a>00030 <a name="l00031"></a>00031 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00032"></a>00032 <span class="comment">// CONSTANTES.</span> <a name="l00033"></a>00033 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <span class="comment">// N�mero de sectores: m�ltiplo de 4.</span> <a name="l00036"></a>00036 <span class="preprocessor">#define SECTORES 180</span> <a name="l00037"></a>00037 <span class="preprocessor"></span> <a name="l00038"></a>00038 <span class="preprocessor">#define VERDADERO 1</span> <a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#define FALSO 0</span> <a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define NO_SIGNIFICATIVO -1</span> <a name="l00041"></a>00041 <span class="preprocessor"></span> <a name="l00042"></a>00042 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00043"></a>00043 <span class="comment">// TIPOS.</span> <a name="l00044"></a>00044 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00045"></a>00045 <a name="l00046"></a>00046 <span class="comment">// Informaci�n acerca del robot.</span> <a name="l00047"></a>00047 <a name="l00048"></a>00048 <span class="comment">// Dimensiones del robot.</span> <a name="l00049"></a>00049 <span class="comment">// Consideramos el robot definido por un rect�ngulo. Numeramos sus</span> <a name="l00050"></a>00050 <span class="comment">// dimensiones, medidas a partir de su centro en las direcciones principales,</span> <a name="l00051"></a>00051 <span class="comment">// siguiendo la misma convenci�n que para los sectores:</span> <a name="l00052"></a>00052 <span class="comment">// Dimension[0]: distancia desde el centro a la trasera del robot.</span> <a name="l00053"></a>00053 <span class="comment">// Dimension[1]: distancia desde el centro a la izquierda del robot.</span> <a name="l00054"></a>00054 <span class="comment">// Dimension[2]: distancia desde el centro al frontal del robot.</span> <a name="l00055"></a>00055 <span class="comment">// Dimension[3]: distancia desde el centro a la derecha del robot.</span> <a name="l00056"></a>00056 <span class="keyword">typedef</span> <span class="keywordtype">float</span> TDimensiones[4]; <a name="l00057"></a>00057 <a name="l00058"></a>00058 <span class="keyword">typedef</span> <span class="keywordtype">float</span> TMatriz2x2[2][2]; <a name="l00059"></a>00059 <a name="l00060"></a><a class="code" href="structTInfoRobot.html">00060</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00061"></a>00061 <a name="l00062"></a>00062 TDimensiones Dimensiones; <a name="l00063"></a>00063 <span class="keywordtype">float</span> enlarge; <a name="l00064"></a>00064 <a name="l00065"></a>00065 <span class="keywordtype">short</span> <span class="keywordtype">int</span> geometriaRect; <span class="comment">// Si es cuadrado o no</span> <a name="l00066"></a>00066 <a name="l00067"></a>00067 <span class="keywordtype">float</span> R; <span class="comment">// radio del robot por si es circular</span> <a name="l00068"></a>00068 <a name="l00069"></a>00069 <span class="keywordtype">short</span> <span class="keywordtype">int</span> holonomo; <a name="l00070"></a>00070 <a name="l00071"></a>00071 <span class="keywordtype">float</span> E[SECTORES]; <span class="comment">// Distancia desde el origen de SR2 al per�metro del robot.</span> <a name="l00072"></a>00072 <span class="keywordtype">float</span> ds[SECTORES]; <span class="comment">// Distancia de seguridad: desde el per�metro del robot al per�metro de seguridad.</span> <a name="l00073"></a>00073 <a name="l00074"></a>00074 <span class="keywordtype">float</span> velocidad_lineal_maxima; <a name="l00075"></a>00075 <span class="keywordtype">float</span> velocidad_angular_maxima; <a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="keywordtype">float</span> aceleracion_lineal_maxima; <a name="l00078"></a>00078 <span class="keywordtype">float</span> aceleracion_angular_maxima; <a name="l00079"></a>00079 <a name="l00080"></a>00080 <span class="keywordtype">float</span> discontinuidad; <span class="comment">// Espacio m�nimo por el que cabe el robot.</span> <a name="l00081"></a>00081 <a name="l00082"></a>00082 <span class="keywordtype">float</span> T; <span class="comment">// Per�odo.</span> <a name="l00083"></a>00083 <a name="l00084"></a>00084 TMatriz2x2 H; <span class="comment">// Generador de movimientos: "Inercia" del robot.</span> <a name="l00085"></a>00085 TMatriz2x2 G; <span class="comment">// Generador de movimientos: "Fuerza" aplicada sobre el robot.</span> <a name="l00086"></a>00086 <a name="l00087"></a>00087 } <a class="code" href="structTInfoRobot.html">TInfoRobot</a>; <a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="comment">// Informaci�n acerca del objetivo.</span> <a name="l00090"></a>00090 <a name="l00091"></a><a class="code" href="structTObjetivo.html">00091</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00092"></a>00092 <a class="code" href="structTCoordenadas.html">TCoordenadas</a> c0; <a name="l00093"></a>00093 <a class="code" href="structTCoordenadas.html">TCoordenadas</a> c1; <a name="l00094"></a>00094 <a class="code" href="structTCoordenadasPolares.html">TCoordenadasPolares</a> p1; <a name="l00095"></a>00095 <span class="keywordtype">int</span> s; <span class="comment">// Sector.</span> <a name="l00096"></a>00096 } <a class="code" href="structTObjetivo.html">TObjetivo</a>; <a name="l00097"></a>00097 <a name="l00098"></a>00098 <span class="comment">// Informaci�n acerca de la regi�n escogida.</span> <a name="l00099"></a>00099 <a name="l00100"></a>00100 <span class="preprocessor">#define DIRECCION_OBJETIVO 0</span> <a name="l00101"></a>00101 <span class="preprocessor"></span><span class="preprocessor">#define DIRECCION_DISCONTINUIDAD_INICIAL 1</span> <a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#define DIRECCION_DISCONTINUIDAD_FINAL 2</span> <a name="l00103"></a>00103 <span class="preprocessor"></span> <a name="l00104"></a><a class="code" href="structTRegion.html">00104</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00105"></a>00105 <span class="keywordtype">int</span> principio; <a name="l00106"></a>00106 <span class="keywordtype">int</span> <span class="keyword">final</span>; <a name="l00107"></a>00107 <a name="l00108"></a>00108 <span class="keywordtype">int</span> principio_ascendente; <a name="l00109"></a>00109 <span class="keywordtype">int</span> final_ascendente; <a name="l00110"></a>00110 <a name="l00111"></a>00111 <span class="keywordtype">int</span> descartada; <a name="l00112"></a>00112 <a name="l00113"></a>00113 <span class="keywordtype">int</span> direccion_tipo; <a name="l00114"></a>00114 <span class="keywordtype">int</span> direccion_sector; <a name="l00115"></a>00115 <span class="keywordtype">float</span> direccion_angulo; <a name="l00116"></a>00116 } <a class="code" href="structTRegion.html">TRegion</a>; <a name="l00117"></a>00117 <a name="l00118"></a><a class="code" href="structTVRegiones.html">00118</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00119"></a>00119 <span class="keywordtype">int</span> longitud; <a name="l00120"></a>00120 <a class="code" href="structTRegion.html">TRegion</a> vector[SECTORES]; <a name="l00121"></a>00121 } <a class="code" href="structTVRegiones.html">TVRegiones</a>; <a name="l00122"></a>00122 <a name="l00123"></a>00123 <span class="comment">// Informaci�n interna del m�todo de navegaci�n.</span> <a name="l00124"></a>00124 <a name="l00125"></a><a class="code" href="structTInfoND.html">00125</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00126"></a>00126 <a name="l00127"></a>00127 <a class="code" href="structTObjetivo.html">TObjetivo</a> objetivo; <a name="l00128"></a>00128 <a name="l00129"></a>00129 <a class="code" href="structTSR.html">TSR</a> SR1; <span class="comment">// Estado actual del robot: posici�n y orientaci�n.</span> <a name="l00130"></a>00130 <a class="code" href="structTVelocities.html">TVelocities</a> velocidades; <span class="comment">// Estado actual del robot: velocidades lineal y angular.</span> <a name="l00131"></a>00131 <a name="l00132"></a>00132 <a class="code" href="structTCoordenadasPolares.html">TCoordenadasPolares</a> d[SECTORES]; <span class="comment">// Distancia desde el centro del robot al obst�culo m�s pr�ximo en cada sector (con �ngulos).</span> <a name="l00133"></a>00133 <span class="keywordtype">float</span> dr[SECTORES]; <span class="comment">// Distancia desde el per�metro del robot al obst�culo m�s pr�ximo en cada sector.</span> <a name="l00134"></a>00134 <a name="l00135"></a>00135 <a class="code" href="structTVRegiones.html">TVRegiones</a> regiones; <span class="comment">// S�lo como informaci�n de cara al exterior: Lista de todas las regiones encontradas en el proceso de selecci�n.</span> <a name="l00136"></a>00136 <span class="keywordtype">int</span> region; <span class="comment">// Como almacenamos m�s de una regi�n debemos indicar cu�l es la escogida.</span> <a name="l00137"></a>00137 <a name="l00138"></a>00138 <span class="keywordtype">int</span> obstaculo_izquierda,obstaculo_derecha; <a name="l00139"></a>00139 <a name="l00140"></a>00140 <span class="keywordtype">float</span> angulosin; <span class="comment">// S�lo como informaci�n de cara al exterior: �ngulo antes de tener en cuenta los obst�culos m�s pr�ximos.</span> <a name="l00141"></a>00141 <span class="keywordtype">float</span> angulocon; <span class="comment">// S�lo como informaci�n de cara al exterior: �ngulo despu�s de tener en cuenta los obst�culos m�s pr�ximos.</span> <a name="l00142"></a>00142 <span class="keywordtype">char</span> situacion[20]; <span class="comment">// S�lo como informaci�n de cara al exterior: Situaci�n en la que se encuentra el robot.</span> <a name="l00143"></a>00143 <span class="keywordtype">char</span> cutting[20]; <span class="comment">// S�lo como informaci�n de cara al exterior: Cutting aplicado al movimiento del robot.</span> <a name="l00144"></a>00144 <a name="l00145"></a>00145 <span class="keywordtype">float</span> angulo; <span class="comment">// Salida del algoritmo de navegaci�n y entrada al generador de movimientos: direcci�n de movimiento deseada.</span> <a name="l00146"></a>00146 <span class="keywordtype">float</span> velocidad; <span class="comment">// Salida del algoritmo de navegaci�n y entrada al generador de movimientos: velocidad lineal deseada.</span> <a name="l00147"></a>00147 <a name="l00148"></a>00148 } <a class="code" href="structTInfoND.html">TInfoND</a>; <a name="l00149"></a>00149 <a name="l00150"></a>00150 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00151"></a>00151 <span class="comment">// VARIABLES.</span> <a name="l00152"></a>00152 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00153"></a>00153 <a name="l00154"></a>00154 <span class="keyword">extern</span> <a class="code" href="structTInfoRobot.html">TInfoRobot</a> robot; <a name="l00155"></a>00155 <a name="l00156"></a>00156 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00157"></a>00157 <span class="comment">// FUNCIONES.</span> <a name="l00158"></a>00158 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00159"></a>00159 <a name="l00160"></a>00160 <span class="keyword">extern</span> <span class="keywordtype">float</span> sector2angulo(<span class="keywordtype">int</span> sector); <a name="l00161"></a>00161 <a name="l00162"></a>00162 <span class="keyword">extern</span> <span class="keywordtype">int</span> angulo2sector(<span class="keywordtype">float</span> angulo); <a name="l00163"></a>00163 <a name="l00164"></a>00164 <a name="l00165"></a>00165 <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>