common.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 _Common_h_DEFINED
#define _Common_h_DEFINED
#include <math.h>

#define MAX_VISION_OBJECTS 25
#define MAX_VISION_LINES 25
#define MAX_FIELD_OBJECTS 14
#define PLAYERS_PER_TEAM 4


#define RAW_MULTIPLIER 6

#ifdef ERS_7
//#define FOVx DEG_TO_RAD(56.9)
  #define FOVx DEG_TO_RAD(55.4) // sony's spec does not seem correct.
  #define FOVy DEG_TO_RAD(45.2)

  #define IMAGE_WIDTH_SCALE 208.0/176.0
  #define IMAGE_HEIGHT_SCALE 160.0/144.0
  #define IMAGE_AVERAGE_SCALE (IMAGE_WIDTH_SCALE/2.0+IMAGE_HEIGHT_SCALE/2.0)
  #define IMAGE_SCALE 1.238
  #define EFFECTIVE_CAMERA_DISTANCE_IN_PIXELS 191.9
  #define CAMERA_OFFSET 1.46

  // FIXME these 3 are dodgy++
  #define HEADLENGTH 8.106
  #define NECKLENGTH 8.0
  #define HEIGHTOFNECK 16.1

  #define FULL_IMAGE_WIDTH 208
  #define FULL_IMAGE_HEIGHT 160
  #define DODGY_PIXELS_TOP 40
  #define DOUBLE_IMAGE_WIDTH FULL_IMAGE_WIDTH*2
  #define DOUBLE_IMAGE_HEIGHT FULL_IMAGE_HEIGHT*2
#endif

#ifdef ERS_210
  #define FOVx 1.0122909
  #define FOVy 0.8377580

  #define IMAGE_WIDTH_SCALE 1.0
  #define IMAGE_HEIGHT_SCALE 1.0
  #define IMAGE_AVERAGE_SCALE 1.0
  #define IMAGE_SCALE 1.0
  #define EFFECTIVE_CAMERA_DISTANCE_IN_PIXELS 158.8
  #define CAMERA_OFFSET 0.0

  #define HEADLENGTH 6.5 //not too sure on this one, i used a ruler (!). can anyone find the real value?
  #define NECKLENGTH 4.8 // direct from spec
  #define HEIGHTOFNECK 13 // ??

  #define FULL_IMAGE_WIDTH 176
  #define FULL_IMAGE_HEIGHT 144
  #define DODGY_PIXELS_TOP 30
  // FIXME we run out of memory otherwise !
  #define DOUBLE_IMAGE_WIDTH FULL_IMAGE_WIDTH
  #define DOUBLE_IMAGE_HEIGHT FULL_IMAGE_HEIGHT
#endif

#define PI 3.141592
#define PI_L 3141592L

#define DEG_TO_RAD(x)     ((double)((x)*PI)/180.0)
#define RAD_TO_MICRO(x)		((long)((x)*1000000))
#define DEG_TO_MICRO(x)		(RAD_TO_MICRO((DEG_TO_RAD((x)))))
#define RAD_TO_DEG(x)		  ((double)((x)*180.0)/PI)
#define MICRO_TO_RAD(x)		((double)(x)/1000000.0)
#define MICRO_TO_DEG(x)		(RAD_TO_DEG((MICRO_TO_RAD((x)))))

#define SQUARE(x)         ((x) * (x))
#define ABS(x)            (((x)>0)?(x):-1*(x))

#define MAX(x,y) ((x) > (y) ? (x) : (y))
#define MIN(x,y) ((x) > (y) ? (y) : (x))

inline double CROP(double num, double low, double high) {
  if (num < low) num = low;
  else if (num > high) num = high;
  return num;
}

typedef unsigned char uchar;
typedef unsigned short ushort;
typedef unsigned long ulong;

inline double Normalise_PI(double angle) {
  while (angle>PI) {
    angle -= 2.0*PI;
  }
  while (angle<=-PI) {
    angle += 2.0*PI;
  }
  return angle;
}

#endif