visionline.cc

该文件是包含了机器人足球比赛中的整个系统的代码

#include "VisionLine.h"
#include "Common.h"
#include <math.h>


VisionLine::VisionLine() {
  type_ = LT_INVALID;

  startX_ = 0;
  startY_ = 0;
  startXRobot_ = 0;
  startYRobot_ = 0;
  startZRobot_ = 0;
  startHeading_ = 0.0;
  startElevation_ = 0.0;
  startDistance_ = 0.0;
  
  endX_ = 0;
  endY_ = 0;
  endXRobot_ = 0;
  endYRobot_ = 0;
  endZRobot_ = 0;
  endHeading_ = 0.0;
  endElevation_ = 0.0;
  endDistance_ = 0.0;

  confidence_ = 0;
  angle_ = 0.0;
}

VisionLine::~VisionLine() { 
}

void VisionLine::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) {

  type_ = type;

  startX_ = startX;
  startY_ = startY;
  startHeading_ = startHeading;
  startElevation_ = startElevation;
  startDistance_ = startDistance;
  
  endX_ = endX;
  endY_ = endY;
  endHeading_ = endHeading;
  endElevation_ = endElevation;
  endDistance_ = endDistance;

  angle_ = angle;
  confidence_ = confidence;
}