#ifndef playground_h #define playground_h /* playground.h */ /* ai - Robot Artificial Intelligence. {{{ * * Copyright (C) 2011 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "defs.h" /** * Define playground constant data and playground macro to define position and * angle depending of the current team color. */ #ifndef EUROBOT # error "Need EUROBOT define for playground" #endif /** Playground width, mm. */ #define PG_WIDTH 3000 /** Playground length, mm. */ #if EUROBOT >= 2012 # define PG_LENGTH 2000 #else # define PG_LENGTH 2100 #endif /** Distance to playground borders for general movements, mm. */ #define PG_BORDER_DISTANCE 250 /** Return mirror X coordinate, using a horizontal symmetry. */ #define PG_MIRROR_X(x) (PG_WIDTH - (x)) /** Return X coordinate, applying symmetry according to team color. */ #define PG_X(x) (team_color ? (x) : PG_MIRROR_X (x)) /** Same as PG_Y, but for Y coordinate. Actually nothing is done, there is no * symmetry. */ #define PG_Y(y) (y) /** Return an angle, applying symmetry according to team color. Takes degrees as * input. */ #define PG_A_DEG(a) \ (team_color ? POSITION_A_DEG (a) : POSITION_A_DEG (180 - (a))) /** Initialiser for position_t applying symmetry according to color. Takes * degrees for angle. */ #define PG_POSITION_DEG(x, y, a) \ { { PG_X (x), PG_Y (y) }, PG_A_DEG (a) } /** Initialiser for vect_t applying symmetry according to color. */ #define PG_VECT(x, y) \ (vect_t) { PG_X (x), PG_Y (y) } #endif /* playground_h */