📄 main.h
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/*************************************************************************** * Copyright (C) 2004 - 2006 by ZJUBase *
* National Lab of Industrial Control Tech. * * Zhejiang University, China *
* * * Team members: *
* Currently the team leader is, * * Hao JIANG (jianghao@iipc.zju.edu.cn; riveria@gmail.com) *
* In the next season, the leader will be * * Yifeng ZHANG (yfzhang@iipc.zju.edu.cn) *
* ZJUBase 3D agent is created by * * Dijun LUO (djluo@iipc.zju.edu.cn) *
* All the members who has ever contributed: * * Jun JIANG *
* Xinfeng DU (xfdu@iipc.zju.edu.cn) *
* Yang ZHOU (yzhou@iipc.zju.edu.cn) *
* Zhipeng YANG *
* Xiang FAN *
* *
* Team Manager: *
* Ms. Rong XIONG (rxiong@iipc.zju.edu.cn) *
* *
* If you met any problems or you have something to discuss about * * ZJUBase. Please feel free to contact us through EMails given below. * * * * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * * * * This program is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * * GNU General Public License for more details. * * * * You should have received a copy of the GNU General Public License * * along with this program; if not, write to the * * Free Software Foundation, Inc., * * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * ***************************************************************************/
#ifndef mainH
#define mainH
//---------------------------------------------------------------------------
#include <Classes.hpp>
#include <Controls.hpp>
#include <StdCtrls.hpp>
#include <Forms.hpp>
#include <Buttons.hpp>
#include <Dialogs.hpp>
#include <ComCtrls.hpp>
#include <NMUDP.hpp>
#include <ImgList.hpp>
#include <ToolWin.hpp>
#include <ExtCtrls.hpp>
#include <ScktComp.hpp>
#include <vector>
#include "stdio.h"
#include <string>
#include "math.h"
#define PI 3.1415926
#include "monitor.h"
#define LOG_NUM_LINE 55
using namespace std;
typedef struct tagstrWM{
char str[LOG_NUM_LINE][120];
}MyWM;
typedef vector<MyWM> vecWM;
typedef double Angle;
enum CoordSystemT {
CARTESIAN,
POLAR
};
//=======================
double cosDeg ( Angle x );
double sinDeg ( Angle x );
double tanDeg ( Angle x );
Angle atanDeg ( double x );
double atan2Deg( double x, double y );
Angle acosDeg ( double x );
Angle asinDeg ( double x );
Angle Rad2Deg ( double x );
double Deg2Rad ( Angle x );
//=======================
class Monitor;
class VecPosition
{
// private member data
private:
// public methods
public:
double m_x; /*!< x-coordinate of this position */
double m_y; /*!< y-coordinate of this position */
// constructor for VecPosition class
VecPosition ( double vx = 0,
double vy = 0,
CoordSystemT cs = CARTESIAN);
// overloaded arithmetic operators
VecPosition operator - ( );
VecPosition operator + ( const double &d );
VecPosition operator + ( const VecPosition &p );
VecPosition operator - ( const double &d );
VecPosition operator - ( const VecPosition &p );
VecPosition operator * ( const double &d );
VecPosition operator * ( const VecPosition &p );
VecPosition operator / ( const double &d );
VecPosition operator / ( const VecPosition &p );
void operator = ( const double &d );
void operator += ( const VecPosition &p );
void operator += ( const double &d );
void operator -= ( const VecPosition &p );
void operator -= ( const double &d );
void operator *= ( const VecPosition &p );
void operator *= ( const double &d );
void operator /= ( const VecPosition &p );
void operator /= ( const double &d );
bool operator != ( const VecPosition &p );
bool operator != ( const double &d );
bool operator == ( const VecPosition &p );
bool operator == ( const double &d );
// methods for producing output
friend ostream& operator << ( ostream &os,
VecPosition &p );
void show ( CoordSystemT cs = CARTESIAN);
string str ( CoordSystemT cs = CARTESIAN);
// set- and get methods for private member variables
bool setX ( double dX );
double getX ( ) const;
bool setY ( double dY );
double getY ( ) const;
// set- and get methods for derived position information
void setVecPosition ( double dX = 0,
double dY = 0,
CoordSystemT cs = CARTESIAN);
double getDistanceTo ( const VecPosition p );
VecPosition setMagnitude ( double d );
double getMagnitude ( ) const;
Angle getDirection ( ) const;
//gyj add
Angle getDirectionTo(const VecPosition &p);
void rand(double r);
//gyj end
// comparison methods for positions
bool isInFrontOf ( const VecPosition &p );
bool isInFrontOf ( const double &d );
bool isBehindOf ( const VecPosition &p );
bool isBehindOf ( const double &d );
bool isLeftOf ( const VecPosition &p );
bool isLeftOf ( const double &d );
bool isRightOf ( const VecPosition &p );
bool isRightOf ( const double &d );
bool isBetweenX ( const VecPosition &p1,
const VecPosition &p2 );
bool isBetweenX ( const double &d1,
const double &d2 );
bool isBetweenY ( const VecPosition &p1,
const VecPosition &p2 );
bool isBetweenY ( const double &d1,
const double &d2 );
// conversion methods for positions
VecPosition normalize ( );
VecPosition rotate ( Angle angle );
VecPosition globalToRelative ( VecPosition orig,
Angle ang );
VecPosition relativeToGlobal ( VecPosition orig,
Angle ang );
VecPosition getVecPositionOnLineFraction( VecPosition &p,
double dFrac );
// static class methods
static VecPosition getVecPositionFromPolar( double dMag,
Angle ang );
static Angle normalizeAngle ( Angle angle );
bool isInField(double margine);
};
class Vector {
public:
double x;
double y;
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