visionline.h

该文件是包含了机器人足球比赛中的整个系统的代码

// These objects are just what Vision tells the world.

#ifndef _VisionLine_h_DEFINED
#define _VisionLine_h_DEFINED

#include "../VISION/VisionData.h"

class VisionLine
{
public:
  enum LineType
  {
    LT_INVALID = 0,
    LT_SIDELINE_PG = 1,
    LT_SIDELINE_GP = 2,
    LT_SIDELINE_B = 3,
    LT_SIDELINE_Y = 4,
    LT_SIDELINE_UNK = 5,
  };

  VisionLine();
  ~VisionLine();

  void SetData(LineType type, int startX, int startY, double startHeading, double startElevation, double startDistance, int endX, int endY, double endHeading, double endElevation, double endDistance, int confidence, double angle);

  LineType type_;
  
  int startX_;
  int startY_;
  int startXRobot_;
  int startYRobot_;
  int startZRobot_;
  double startHeading_;
  double startElevation_;
  double startDistance_;
  
  int endX_;
  int endY_;
  int endXRobot_;
  int endYRobot_;
  int endZRobot_;
  double endHeading_;
  double endElevation_;
  double endDistance_;
  
  double angle_;
  int confidence_;
};

#endif