/* position.h */ /* Beacon triangulation algorithms. {{{ * * Copyright (C) 2011 Florent Duchon * * 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. * * }}} */ #ifndef _POSITION_H #define _POSITION_H #include #define MAX_OBSTACLE 1 #define MAX_BEACON 3 #define MAX_TEMP_POSITION MAX_OBSTACLE * 2 #define OBSTACLE_RADIUS 100 #define IGNORE_ANGLE 1000 /* Status returns */ typedef enum{ POSITION_NO_ERROR, POSITION_IGNORE_ANGLE } TPositionStatus; typedef enum{ OPPONENT_1 = 1, OPPONENT_2 } TOpponent_ID; typedef enum{ POV_BEACON_1 = 1, POV_BEACON_2, POV_BEACON_3 } TBeacon_ID; typedef enum{ X, Y } TCoord_type; /* Structures definition */ /* Beacon Structure */ typedef struct { uint16_t angleNumber; float angle[MAX_OBSTACLE+1]; }beacon_s; /* Robot structure */ typedef struct { int16_t x; int16_t y; int8_t trust; float angle[MAX_BEACON+1]; }robot_s; /* Coordinates structure */ typedef struct { int x; int y; }coord_s; /* Recovery Structure */ typedef struct { int x; int y; int occurence; }recovery_s; /* This function is used to initialize all needed structures */ void position_init_struct(void); /* This function update the opponent position when a new angle is avalaible */ int update_position(uint16_t beaconID, uint16_t angleID, float angle); /* This function returns the requested coord according to the opponent number */ int16_t position_get_coord(TOpponent_ID id, TCoord_type type); /* This function returns the trust according to opponent number */ int8_t position_get_trust(TOpponent_ID id); #endif