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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Geometry.h File Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body bgcolor="#ffffff"><!-- Generated by Doxygen 1.2.12 --><center><a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> </center><hr><h1>Geometry.h File Reference</h1><code>#include "math.h"</code><br><code>#include <string></code><br><p>Include dependency graph for Geometry.h:<p><center><img src="Geometry_8h__incl.gif" border="0" usemap="#Geometry.h_map" alt="Include dependency graph"></center><map name="Geometry.h_map"></map><p>This graph shows which files directly or indirectly include this file:<p><center><img src="Geometry_8h__dep__incl.gif" border="0" usemap="#Geometry.hdep_map" alt="Included by dependency graph"></center><map name="Geometry.hdep_map"><area href="SoccerTypes_8h.html" shape="rect" coords="521,214,611,233" alt=""><area href="Objects_8h.html" shape="rect" coords="434,147,498,166" alt=""><area href="WorldModel_8h.html" shape="rect" coords="318,81,409,99" alt=""><area href="ActHandler_8h.html" shape="rect" coords="14,14,99,33" alt=""><area href="SenseHandler_8h.html" shape="rect" coords="123,14,219,33" alt=""><area href="WorldModel_8C.html" shape="rect" coords="243,14,337,33" alt=""><area href="WorldModelHighLevel_8C.html" shape="rect" coords="361,14,513,33" alt=""><area href="WorldModelPredict_8C.html" shape="rect" coords="537,14,667,33" alt=""><area href="WorldModelUpdate_8C.html" shape="rect" coords="691,14,825,33" alt=""><area href="Objects_8C.html" shape="rect" coords="433,81,499,99" alt=""><area href="Formations_8h.html" shape="rect" coords="525,147,607,166" alt=""><area href="Formations_8C.html" shape="rect" coords="523,81,609,99" alt=""><area href="Player_8h.html" shape="rect" coords="633,81,689,99" alt=""><area href="SoccerTypes_8C.html" shape="rect" coords="631,147,725,166" alt=""><area href="Geometry_8C.html" shape="rect" coords="635,214,713,233" alt=""></map><p><a href="Geometry_8h-source.html">Go to the source code of this file.</a><table border=0 cellpadding=0 cellspacing=0><tr><td colspan=2><br><h2>Compounds</h2></td></tr><tr><td nowrap align=right valign=top>class </td><td valign=bottom><a class="el" href="classCircle.html">Circle</a></td></tr><tr><td nowrap align=right valign=top>class </td><td valign=bottom><a class="el" href="classGeometry.html">Geometry</a></td></tr><tr><td nowrap align=right valign=top>class </td><td valign=bottom><a class="el" href="classLine.html">Line</a></td></tr><tr><td nowrap align=right valign=top>class </td><td valign=bottom><a class="el" href="classRectangle.html">Rectangle</a></td></tr><tr><td nowrap align=right valign=top>class </td><td valign=bottom><a class="el" href="classVecPosition.html">VecPosition</a></td></tr><tr><td colspan=2><br><h2>Defines</h2></td></tr><tr><td nowrap align=right valign=top>#define </td><td valign=bottom><a class="el" href="Geometry_8h.html#a0">EPSILON</a> 0.0001</td></tr><tr><td colspan=2><br><h2>Typedefs</h2></td></tr><tr><td nowrap align=right valign=top>typedef double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a1">AngRad</a></td></tr><tr><td nowrap align=right valign=top>typedef double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a2">AngDeg</a></td></tr><tr><td colspan=2><br><h2>Enumerations</h2></td></tr><tr><td nowrap align=right valign=top>enum </td><td valign=bottom><a class="el" href="Geometry_8h.html#a19">CoordSystemT</a> { <b>CARTESIAN</b>, <b>POLAR</b> }</td></tr><tr><td colspan=2><br><h2>Functions</h2></td></tr><tr><td nowrap align=right valign=top>double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a5">max</a> (double d1, double d2)</td></tr><tr><td nowrap align=right valign=top>double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a6">min</a> (double d1, double d2)</td></tr><tr><td nowrap align=right valign=top>int </td><td valign=bottom><a class="el" href="Geometry_8h.html#a7">sign</a> (double d1)</td></tr><tr><td nowrap align=right valign=top><a class="el" href="Geometry_8h.html#a2">AngDeg</a> </td><td valign=bottom><a class="el" href="Geometry_8h.html#a8">Rad2Deg</a> (<a class="el" href="Geometry_8h.html#a1">AngRad</a> x)</td></tr><tr><td nowrap align=right valign=top><a class="el" href="Geometry_8h.html#a1">AngRad</a> </td><td valign=bottom><a class="el" href="Geometry_8h.html#a9">Deg2Rad</a> (<a class="el" href="Geometry_8h.html#a2">AngDeg</a> x)</td></tr><tr><td nowrap align=right valign=top>double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a10">cosDeg</a> (<a class="el" href="Geometry_8h.html#a2">AngDeg</a> x)</td></tr><tr><td nowrap align=right valign=top>double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a11">sinDeg</a> (<a class="el" href="Geometry_8h.html#a2">AngDeg</a> x)</td></tr><tr><td nowrap align=right valign=top>double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a12">tanDeg</a> (<a class="el" href="Geometry_8h.html#a2">AngDeg</a> x)</td></tr><tr><td nowrap align=right valign=top><a class="el" href="Geometry_8h.html#a2">AngDeg</a> </td><td valign=bottom><a class="el" href="Geometry_8h.html#a13">atanDeg</a> (double x)</td></tr><tr><td nowrap align=right valign=top>double </td><td valign=bottom><a class="el" href="Geometry_8h.html#a14">atan2Deg</a> (double x, double y)</td></tr><tr><td nowrap align=right valign=top><a class="el" href="Geometry_8h.html#a2">AngDeg</a> </td><td valign=bottom><a class="el" href="Geometry_8h.html#a15">acosDeg</a> (double x)</td></tr><tr><td nowrap align=right valign=top><a class="el" href="Geometry_8h.html#a2">AngDeg</a> </td><td valign=bottom><a class="el" href="Geometry_8h.html#a16">asinDeg</a> (double x)</td></tr><tr><td nowrap align=right valign=top>bool </td><td valign=bottom><a class="el" href="Geometry_8h.html#a17">isAngInInterval</a> (<a class="el" href="Geometry_8h.html#a2">AngDeg</a> ang, <a class="el" href="Geometry_8h.html#a2">AngDeg</a> angMin, <a class="el" href="Geometry_8h.html#a2">AngDeg</a> angMax)</td></tr><tr><td nowrap align=right valign=top><a class="el" href="Geometry_8h.html#a2">AngDeg</a> </td><td valign=bottom><a class="el" href="Geometry_8h.html#a18">getBisectorTwoAngles</a> (<a class="el" href="Geometry_8h.html#a2">AngDeg</a> angMin, <a class="el" href="Geometry_8h.html#a2">AngDeg</a> angMax)</td></tr></table><hr><a name="_details"></a><h2>Detailed Description</h2> <pre><b>File:</b> <a class="el" href="Geometry_8h.html">Geometry.h</a><b>Project:</b> Robocup Soccer Simulation Team: UvA Trilearn 2001<b>Authors:</b> Jelle Kok and Remco de Boer<b>Created:</b> 12/02/2001<b>Last Revision:</b> 06/01/2002<b>Contents:</b> Header file for the classes <a class="el" href="classVecPosition.html">VecPosition</a>, <a class="el" href="classGeometry.html">Geometry</a>, <a class="el" href="classLine.html">Line</a>, <a class="el" href="classCircle.html">Circle</a> and <a class="el" href="classRectangle.html">Rectangle</a>. All the member data and member method declarations for all these classes can be found in this file together with some auxiliary functions for numeric and goniometric purposes.</pre><p><p>Definition in file <a class="el" href="Geometry_8h-source.html">Geometry.h</a>.<hr><h2>Define Documentation</h2><a name="a0" doxytag="Geometry.h::EPSILON"></a><p><table width="100%" cellpadding="2" cellspacing="0" border="0"> <tr> <td class="md"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> #define EPSILON 0.0001 </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>Value used for floating point equality tests. <p>Definition at line <a class="el" href="Geometry_8h-source.html#l00054">54</a> of file <a class="el" href="Geometry_8h-source.html">Geometry.h</a>.<p>Referenced by <a class="el" href="Geometry_8C-source.html#l00993">Geometry::abcFormula</a>(), <a class="el" href="Geometry_8C-source.html#l00143">atan2Deg</a>(), <a class="el" href="Geometry_8C-source.html#l01320">Line::getCircleIntersectionPoints</a>(), <a class="el" href="Geometry_8C-source.html#l01447">Line::makeLineFromTwoPoints</a>(), <a class="el" href="Objects_8C-source.html#l00320">DynamicObject::setGlobalVelocity</a>(), <a class="el" href="Geometry_8C-source.html#l00602">VecPosition::setMagnitude</a>(), and <a class="el" href="WorldModelUpdate_8C-source.html#l01481">WorldModel::updateParticlesBall</a>(). </td> </tr></table><hr><h2>Typedef Documentation</h2><a name="a2" doxytag="Geometry.h::AngDeg"></a><p><table width="100%" cellpadding="2" cellspacing="0" border="0"> <tr> <td class="md"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> typedef double AngDeg </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>Type definition for angles in radians. <p>Definition at line <a class="el" href="Geometry_8h-source.html#l00052">52</a> of file <a class="el" href="Geometry_8h-source.html">Geometry.h</a>.<p>Referenced by <a class="el" href="BasicPlayer_8C-source.html#l00314">BasicPlayer::accelerateBallToVelocity</a>(), <a class="el" href="Geometry_8C-source.html#l00155">acosDeg</a>(), <a class="el" href="SenseHandler_8C-source.html#l00285">SenseHandler::analyzeSeeGlobalMessage</a>(), <a class="el" href="SenseHandler_8C-source.html#l00206">SenseHandler::analyzeSeeMessage</a>(), <a class="el" href="SenseHandler_8C-source.html#l00345">SenseHandler::analyzeSenseMessage</a>(), <a class="el" href="Geometry_8C-source.html#l00169">asinDeg</a>(), <a class="el" href="Geometry_8C-source.html#l00130">atanDeg</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01212">WorldModel::calculateAngleAgentWithPos</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01159">WorldModel::calculatePosAgentWith2Flags</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00917">WorldModel::calculateStateAgent</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01874">WorldModel::calculateStateAgent2</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01047">WorldModel::checkParticlesAgent</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01386">WorldModel::checkParticlesBall</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01375">BasicPlayer::clearBall</a>(), <a class="el" href="Geometry_8C-source.html#l00103">cosDeg</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01521">BasicPlayer::defendGoalLine</a>(), <a class="el" href="Geometry_8C-source.html#l00094">Deg2Rad</a>(), <a class="el" href="Player_8C-source.html#l00278">Player::deMeer5_goalie</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01070">BasicPlayer::dribble</a>(), <a class="el" href="WorldModelHighLevel_8C-source.html#l01111">WorldModel::getActualTurnAngle</a>(), <a class="el" href="WorldModel_8C-source.html#l00519">WorldModel::getAgentBodyAngleRelToNeck</a>(), <a class="el" href="WorldModel_8C-source.html#l00533">WorldModel::getAgentGlobalBodyAngle</a>(), <a class="el" href="WorldModel_8C-source.html#l00526">WorldModel::getAgentGlobalNeckAngle</a>(), <a class="el" href="WorldModelHighLevel_8C-source.html#l01094">WorldModel::getAngleForTurn</a>(), <a class="el" href="WorldModel_8C-source.html#l00634">WorldModel::getBallDirection</a>(), <a class="el" href="Geometry_8C-source.html#l00206">getBisectorTwoAngles</a>(), <a class="el" href="Objects_8C-source.html#l00811">AgentObject::getBodyAngleRelToNeck</a>(), <a class="el" href="Geometry_8C-source.html#l00625">VecPosition::getDirection</a>(), <a class="el" href="WorldModelHighLevel_8C-source.html#l00874">WorldModel::getDirectionOfWidestAngle</a>(), <a class="el" href="WorldModel_8C-source.html#l00790">WorldModel::getGlobalAngle</a>(), <a class="el" href="Objects_8C-source.html#l00298">FixedObject::getGlobalAngle</a>(), <a class="el" href="SoccerTypes_8C-source.html#l01448">SoccerTypes::getGlobalAngleLine</a>(), <a class="el" href="WorldModel_8C-source.html#l00765">WorldModel::getGlobalBodyAngle</a>(), <a class="el" href="Objects_8C-source.html#l00479">PlayerObject::getGlobalBodyAngle</a>(), <a class="el" href="WorldModel_8C-source.html#l00778">WorldModel::getGlobalNeckAngle</a>(), <a class="el" href="SoccerTypes_8C-source.html#l01679">SoccerTypes::getHalfViewAngleValue</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01611">BasicPlayer::getInterceptionPointBall</a>(), <a class="el" href="Geometry_8C-source.html#l01174">Circle::getIntersectionArea</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01762">BasicPlayer::getMarkingPosition</a>(), <a class="el" href="WorldModelHighLevel_8C-source.html#l00825">WorldModel::getOuterPositionInField</a>(), <a class="el" href="WorldModelHighLevel_8C-source.html#l01126">WorldModel::getPowerForDash</a>(), <a class="el" href="WorldModel_8C-source.html#l00734">WorldModel::getRelativeAngle</a>(), <a class="el" href="Objects_8C-source.html#l00065">Object::getRelativeAngle</a>(), <a class="el" href="Objects_8C-source.html#l00459">PlayerObject::getRelativeBodyAngle</a>(), <a class="el" href="Objects_8C-source.html#l00499">PlayerObject::getRelativeNeckAngle</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01687">BasicPlayer::getShootPositionOnLine</a>(), <a class="el" href="Geometry_8C-source.html#l00865">VecPosition::getVecPositionFromPolar</a>(), <a class="el" href="Geometry_8C-source.html#l00804">VecPosition::globalToRelative</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00988">WorldModel::initParticlesAgent</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01319">WorldModel::initParticlesBall</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00531">BasicPlayer::interceptClose</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00671">BasicPlayer::interceptCloseGoalie</a>(), <a class="el" href="Geometry_8C-source.html#l00187">isAngInInterval</a>(), <a class="el" href="WorldModelHighLevel_8C-source.html#l00745">WorldModel::isOpponentAtAngle</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00269">BasicPlayer::kickBallCloseToBody</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00775">BasicPlayer::kickTo</a>(), <a class="el" href="Geometry_8C-source.html#l01475">Line::makeLineFromPositionAndAngle</a>(), <a class="el" href="Geometry_8C-source.html#l00066">max</a>(), <a class="el" href="Geometry_8C-source.html#l00075">min</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00442">BasicPlayer::moveToPos</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00962">BasicPlayer::moveToPosAlongLine</a>(), <a class="el" href="Geometry_8C-source.html#l00875">VecPosition::normalizeAngle</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01271">BasicPlayer::outplayOpponent</a>(), <a class="el" href="Objects_8C-source.html#l00433">PlayerObject::PlayerObject</a>(), <a class="el" href="WorldModelPredict_8C-source.html#l00125">WorldModel::predictAgentPosAfterCommand</a>(), <a class="el" href="WorldModelPredict_8C-source.html#l00106">WorldModel::predictAgentStateAfterCommand</a>(), <a class="el" href="WorldModelPredict_8C-source.html#l00256">WorldModel::predictNrCyclesToPoint</a>(), <a class="el" href="WorldModelPredict_8C-source.html#l00062">WorldModel::predictStateAfterCommand</a>(), <a class="el" href="WorldModelPredict_8C-source.html#l00178">WorldModel::predictStateAfterTurn</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00102">WorldModel::processNewAgentInfo</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00138">WorldModel::processNewObjectInfo</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00063">WorldModel::processSeeGlobalInfo</a>(), <a class="el" href="Geometry_8C-source.html#l00085">Rad2Deg</a>(), <a class="el" href="Geometry_8C-source.html#l00826">VecPosition::relativeToGlobal</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l01850">WorldModel::removeGhosts</a>(), <a class="el" href="Geometry_8C-source.html#l00783">VecPosition::rotate</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00169">BasicPlayer::searchBall</a>(), <a class="el" href="Objects_8C-source.html#l00469">PlayerObject::setGlobalBodyAngle</a>(), <a class="el" href="Objects_8C-source.html#l00799">AgentObject::setGlobalNeckAngle</a>(), <a class="el" href="Objects_8C-source.html#l00509">PlayerObject::setGlobalNeckAngle</a>(), <a class="el" href="Objects_8C-source.html#l00449">PlayerObject::setRelativeBodyAngle</a>(), <a class="el" href="Objects_8C-source.html#l00489">PlayerObject::setRelativeNeckAngle</a>(), <a class="el" href="Objects_8C-source.html#l00114">Object::setRelativePosition</a>(), <a class="el" href="Objects_8C-source.html#l00790">AgentObject::setSpeedRelToNeck</a>(), <a class="el" href="Geometry_8C-source.html#l00057">sign</a>(), <a class="el" href="Geometry_8C-source.html#l00112">sinDeg</a>(), <a class="el" href="Geometry_8C-source.html#l00121">tanDeg</a>(), <a class="el" href="BasicPlayer_8C-source.html#l01180">BasicPlayer::throughPass</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00098">BasicPlayer::turnBackToPoint</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00075">BasicPlayer::turnBodyToPoint</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00130">BasicPlayer::turnNeckToPoint</a>(), <a class="el" href="BasicPlayer_8C-source.html#l00871">BasicPlayer::turnWithBallTo</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00659">WorldModel::updateAgentAndBallAfterSense</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00552">WorldModel::updateAgentObjectAfterSee</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00781">WorldModel::updateBallAfterKick</a>(), <a class="el" href="WorldModelUpdate_8C-source.html#l00579">WorldModel::updateDynamicObjectAfterSee</a>(), and <a class="el" href="WorldModelUpdate_8C-source.html#l01481">WorldModel::updateParticlesBall</a>(). </td> </tr></table><a name="a1" doxytag="Geometry.h::AngRad"></a><p><table width="100%" cellpadding="2" cellspacing="0" border="0"> <tr> <td class="md"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> typedef double AngRad </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>Type definition for angles in degrees. <p>Definition at line <a class="el" href="Geometry_8h-source.html#l00051">51</a> of file <a class="el" href="Geometry_8h-source.html">Geometry.h</a>.<p>Referenced by <a class="el" href="Geometry_8C-source.html#l00094">Deg2Rad</a>(), <a class="el" href="Geometry_8C-source.html#l00085">Rad2Deg</a>(), and <a class="el" href="Geometry_8C-source.html#l00057">sign</a>(). </td> </tr></table><hr><h2>Enumeration Type Documentation</h2><a name="a19" doxytag="Geometry.h::CoordSystemT"></a><p><table width="100%" cellpadding="2" cellspacing="0" border="0"> <tr> <td class="md"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> enum CoordSystemT </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p>CoordSystem is an enumeration of the different specified coordinate systems. The two possibilities are CARTESIAN or POLAR. These values are for instance used in the initializing a <a class="el" href="classVecPosition.html">VecPosition</a>. The CoordSystem indicates whether the supplied arguments represent the position in cartesian or in polar coordinates. <p>Definition at line <a class="el" href="Geometry_8h-source.html#l00083">83</a> of file <a class="el" href="Geometry_8h-source.html">Geometry.h</a>.<p>Referenced by <a class="el" href="Geometry_8C-source.html#l00143">atan2Deg</a>(), <a class="el" href="Geometry_8C-source.html#l00130">atanDeg</a>(), <a class="el" href="Geometry_8C-source.html#l00572">VecPosition::setVecPosition</a>(), <a class="el" href="Geometry_8C-source.html#l00504">VecPosition::show</a>(), <a class="el" href="Geometry_8C-source.html#l00518">VecPosition::str</a>(), and <a class="el" href="Geometry_8C-source.html#l00231">VecPosition::VecPosition</a>(). </td> </tr></table><hr><h2>Function Documentation</h2><a name="a15" doxytag="Geometry.h::acosDeg"></a><p><table width="100%" cellpadding="2" cellspacing="0" border="0"> <tr> <td class="md"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> <a class="el" href="Geometry_8h.html#a2">AngDeg</a> acosDeg </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">double </td> <td class="mdname1" valign="top" nowrap> <em>x</em> </td> <td class="md" valign="top">) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr>⌨️ 快捷键说明
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