robot.h

来自「FIRA 3对3 机器人足球PC端控制程序。」· C头文件 代码 · 共 129 行

 /*-------------------------------------------------*
 *	1. Program 		: MIRO Program for MIROSOT      *
 *	2. Programmer   : Kwang-Choon Kim               *
 *	3. Language		: Visual C++ 1.52               *
 *                                                  *
 *	Copyright (c) 1998 IC LAB, KAIST                *
 *      All rights reserved.                        *
 *-------------------------------------------------*/

#ifndef _ROBOT_H
#define _ROBOT_H    

//#define POINT_MAX         200

//#define GROUP_MAX         50   

#define PREDICTOR_NUM		30

//#define PATCH_LOW_BOUND   6
//#define PATCH_UPPER_BOUND 18

//void PixelYUVtoRGB(BYTE Y, BYTE U, BYTE V, BYTE *R,  BYTE *G,  BYTE *B);
//void YUVtoRGB(BYTE huge *lpY, BYTE huge *lpU, BYTE huge *lpV, BYTE huge *lpRGB, int Width, int Height);
/*
struct Group{
	CPoint point;
	unsigned int count;
	unsigned long int sumx, sumy;
	
	Group();
	BOOL add(int x, int y);
	void center(CPoint *pt);
	void clear();
};*/                        

struct Predictor{
	double a, b;
	double sum_x, sum_y, sum_xy, sum_xx;
	double save_x[PREDICTOR_NUM], save_y[PREDICTOR_NUM], cur_x, cur_y;
	int count, flag;

	Predictor();
	void add(double x, double y);
	void clear();
	double predict(double dx);
};

/*struct Patch{
	unsigned int num;
	int count[GROUP_MAX];
	CPoint center[GROUP_MAX];
	
	Patch();
};*/
/*
struct Robot{
	int angle;
	int sAngle;
	CPoint angleRef;
	CPoint sAngleRef;
	CPoint position, oldPosition;
	CPoint sPosition, sOldPosition;
	int nMethod;
	BYTE color[6];
	BOOL bAlive; 
	unsigned int count;

	Robot();
	BOOL find();      
	BOOL entireFind();
	BOOL entireFind(BYTE huge *lpY, BYTE huge *lpU, BYTE huge *lpV);
};

struct Robot2{
	int angle;             
	int sAngle;
	CPoint position, oldPosition;
	CPoint sPosition, sOldPosition;
	CPoint pos, oldPos, pos1, oldPos1;
	int nMethod;
	BYTE color[6];
	BOOL bAlive; 
	BYTE teamColor[6];
	unsigned int count, count1;

	Robot2();
	BOOL find();      
	BOOL entireFind();
	BOOL entireFind(BYTE huge *lpY, BYTE huge *lpU, BYTE huge *lpV);
};                                            

struct Robot3{
	CPoint position1, oldPosition1; 
	CPoint sPosition1, sOldPosition1;	
	CPoint position2, oldPosition2;
	CPoint sPosition2, sOldPosition2;
	CPoint position3, oldPosition3;
	CPoint sPosition3, sOldPosition3;	
	int nMethod;
	BYTE color[6];
	BOOL bAlive;       
	unsigned int count;	

	Robot3();
	BOOL find1();    
	BOOL find2();      
	BOOL find3();      		  
	BOOL entireFind();
	BOOL entireFind(BYTE huge *lpY, BYTE huge *lpU, BYTE huge *lpV);
};*/

//extern BYTE huge* lpYBuffer, huge* lpUBuffer, huge* lpVBuffer;
//extern HGLOBAL hYGlobal, hUGlobal, hVGlobal;
//extern BYTE huge* lpRGBBuffer;
//extern HGLOBAL hRGBGlobal;
//extern BYTE huge* lpLYBuffer, huge* lpLUBuffer, huge* lpLVBuffer;
//extern HGLOBAL hLYGlobal, hLUGlobal, hLVGlobal;

//extern BOOL bSetColor, bPushed;
//extern CPoint mousePoint, center;
//extern CRect winRect, saveBoundRect, zoomRect;
//extern int nH, nW;

//extern Robot ball;          
//extern Robot2 home1, home2, hgoalie;
//extern Robot3 opponent;   

#endif