globe.h

robocup 5vs5修改板决策例程

#ifndef _GLOBE_H_
#define _GLOBE_H_

#include "GeometryR.h"

#define sqrt2 1.414213562373

#define CLOCKWISE 1
#define ANTICLOCK -1
#define NOCLOCK  0


//场地物体浮点位姿信息
class RobotInford
{
public:
	RobotInford() { theta = 0; speedv = 0; speedw = 0; };
public:
	VecPosition pos;
	double theta;		// 方向角
	double speedv;		// 机器人线速度（上周期）
	double speedw;		// 机器人角速度
};

//小车轮速值浮点型
typedef struct
{
	double LeftValue;
	double RightValue;
}dbLRWheelVelocity;


typedef struct
{
	Line line;
	double angle;
	double velocity;
} FORCASTBALL;

struct DEGame
{
	int	DEGameGround;
	int	DEStartState;
	int	DEStartMode;
	int DEPenaltyDirection;
};
//记录角色分配的结果和参数
//struct RoleInfor
//{
//	RoleInfor(){area = 0;role = 0;charactor = 1;};
//	int area;
//	int role;
//	double charactor;
//};

#endif	// _GLOBE_H_