Example #1
0
/*	Draws the outline of a blob in the specified color.
 * @param b	   the blob
 * @param c	   the color to paint
 */
void Ball::drawBlob(Blob b, int c) {
#ifdef OFFLINE
	thresh->drawLine(b.getLeftTopX(), b.getLeftTopY(),
					 b.getRightTopX(), b.getRightTopY(),
					 c);
	thresh->drawLine(b.getLeftTopX(), b.getLeftTopY(),
					 b.getLeftBottomX(), b.getLeftBottomY(),
					 c);
	thresh->drawLine(b.getLeftBottomX(), b.getLeftBottomY(),
					 b.getRightBottomX(), b.getRightBottomY(),
					 c);
    thresh->drawLine(b.getRightTopX(), b.getRightTopY(),
					 b.getRightBottomX(), b.getRightBottomY(),
					 c);
#endif
}
Example #2
0
/* Print debugging information for a blob.
 * @param b    the blob
 */
void Robots::printBlob(Blob b) {
#if defined OFFLINE
    cout << "Outputting blob" << endl;
    cout << b.getLeftTopX() << " " << b.getLeftTopY() << " " << b.getRightTopX() << " "
            << b.getRightTopY() << endl;
    cout << b.getLeftBottomX() << " " << b.getLeftBottomY() << " " << b.getRightBottomX()
            << " " << b.getRightBottomY() << endl;
#endif
}
Example #3
0
/**
 * Update the robot values from the blob
 *
 * @param b The blob to update our object from.
 */
void VisualRobot::updateRobot(Blob b)
{
    setLeftTopX(b.getLeftTopX());
    setLeftTopY(b.getLeftTopY());
    setLeftBottomX(b.getLeftBottomX());
    setLeftBottomY(b.getLeftBottomY());
    setRightTopX(b.getRightTopX());
    setRightTopY(b.getRightTopY());
    setRightBottomX(b.getRightBottomX());
    setRightBottomY(b.getRightBottomY());
    setX(b.getLeftTopX());
    setY(b.getLeftTopY());
    setWidth(dist(b.getRightTopX(), b.getRightTopY(), b.getLeftTopX(),
                       b.getLeftTopY()));
    setHeight(dist(b.getLeftTopX(), b.getLeftTopY(), b.getLeftBottomX(),
                        b.getLeftBottomY()));
    setCenterX(getLeftTopX() + ROUND2(getWidth() / 2));
    setCenterY(getRightTopY() + ROUND2(getHeight() / 2));
    setDistance(1);
}
Example #4
0
int Ball::ballNearGreen(Blob b)
{
    const int EXTRA_LINES = 6;

    // first check the bottom
    int w = b.width();
    int h = b.height();
    int where = NOGREEN;
    if (greenCheck(b))
        where = where * GREENBELOW;
    // now try the sides - happily the ball is round so we don't have to worry
	// about scan angles
    int x = b.getLeftTopX();
    int y = b.getLeftTopY();
    for (int i = 0; i < h && y + i < IMAGE_HEIGHT && where % GREENLEFT != 0;
		 i= i+2) {
        for (int j =-1; j < EXTRA_LINES && x + j > -1 && where % GREENLEFT != 0;
			 j++) {
            if (thresh->thresholded[i+y][x - j] == GREEN) {
                where = where * GREENLEFT;
            }
        }
    }
    for (int i = 0; i < w && x + i < IMAGE_WIDTH && where % GREENABOVE != 0;
		 i= i+2) {
        for (int j = 0; j < EXTRA_LINES && y - j > 0 && where % GREENABOVE != 0;
			 j++) {
            if (thresh->thresholded[i+y][j+x] == GREEN) {
                where = where * GREENABOVE;
            }
        }
    }

    x = b.getRightTopX();
    y = b.getRightTopY();
    for (int i = 0; i < h && y + i < IMAGE_HEIGHT && where % GREENRIGHT != 0;
		 i= i+2) {
        for (int j = 0; j < EXTRA_LINES && x + j < IMAGE_WIDTH &&
				 where % GREENRIGHT != 0; j++) {
            if (thresh->thresholded[i+y][j+x] == GREEN) {
                where = where * GREENRIGHT;
            }
        }
    }
    // put in the case where we don't have any, but want to check the corners
    return where;
}