obstructionmodel.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef _ObstructionModel_h_DEFINED
#define _ObstructionModel_h_DEFINED

#include "ObjectRecognition.h"

class ObstructionModel {
  public:
    ObstructionModel();


    void DoInit();
    void DoBlobSearch();
    void ProjectRays();

    void LoadParameters();
    void ProcessBlobs(VisionData*);
    void ProjectRay(double value, int angle, double distance);
    void TransformPosition(double* heading_, double elevation_);

    VisionData* visionData;

    int visionArc[58];
    double rayStartOffset;
    double rayLength;
    double decayRate;
    int maxLeftAngle;
    int maxRightAngle;
};


#endif