Ejemplos de BallObject::ball_diameter en C++ (Cpp)

Ejemplo n.º 1

void KfieldGui::draw_ball(belief Belief, BallObject Ball) {
	pthread_mutex_lock(&lock);

	CvPoint pt1, pt2;
	int radius = Ball.ball_diameter() / 2 * 1000.0 / scale;

	//double max = 0;

	pt1.x = Belief.x + Ball.dist() * 1000 * cos((Belief.theta + Ball.bearing()));
	pt1.y = Belief.y + Ball.dist() * 1000 * sin((Belief.theta + Ball.bearing()));

	pt2.x = (pt1.x + (2 * margintoline + field_width) / 2.0) / scale;
	pt2.y = (-pt1.y + (2 * margintoline + field_height) / 2.0) / scale;

	cout << "Ball Dist" << Ball.dist() << " Ball diameter " << Ball.ball_diameter() << " Bearing " << Ball.bearing() << " pt x:" << pt1.x << " y: " << pt1.y << endl;
	cout << " Points in the field pt2.x " << pt2.x << " pt2.y " << pt2.y << endl;
	cvCopy(cleanfield, field);
	cvCircle(field, pt2, radius, color["orange"], CV_FILLED, CV_AA, 0);
	tmp = Kutils::to_string(Ball.dist());
	cvPutText(field, tmp.c_str(), cvPoint((2 * margintoline + field_width - 400) / scale, (2 * margintoline + field_height + 850) / scale), &font, color["orange"]);
	pthread_mutex_unlock(&lock);
	//cout << " Ball Drawn " << endl;
}