// space.cc - Classe Space // nono - Programme du robot Efrei Robotique I1-I2 2004 // Copyright (C) 2004 Olivier Gaillard /// @file space.cc Etalonnage des distances et localisation de la balle #include "space.h" #include "group.h" using namespace std; /// Constructeur /// @param imgHeight hauteur de l'image /// @param imgWidth largeur de l'image Space::Space (int imgHeight, int imgWidth) { Space::imgHeight = imgHeight; Space::imgWidth = imgWidth; Space::oconfig = oconfig; for (int i=0; i NB_POINTS) { std::vector::iterator iter; iter = setupTab.begin(); setupTab.erase(iter); } SETUP_POINT setupPoint; setupPoint.x = x; setupPoint.y = y; setupPoint.distx = distx; setupPoint.disty = disty; setupTab.push_back(setupPoint); } /// Chargement des points a partir d'un fichier void Space::LoadFromFile() { for (int i=0; itabPoint[i][0], oconfig->tabPoint[i][1], oconfig->tabPoint[i][2], oconfig->tabPoint[i][3]); } double Space::CoeffDeterminant(double *matrix, int i, int n) { return (std::pow ((double) -1,(double) i))*matrix[i*n]; } /// Calcul du determinant d'une matrice double Space::Determinant(double *matrix, int n) { if (n == 3) return Determinant33(matrix); double subDet = 0; double coeff; double *mat = new double[(n-1)*(n-1)]; for (int m=0; m