Exemplos de get_next_point em C++ (Cpp)

Exemplo n.º 1

Arquivo: testroute.c Projeto: ShangxuanWu/RoboCup

void testroute_run(void) {
	static int dest_pnt_list[] = {24, 0};//{24, 32, 8, 0, 8, 32, 24, 0, 
									//14, 16, 18, 8, 4, 16, 28, 32, 18, 14, 0, 4, 16, 28, 24, 0};
	static int dest_pnt_index = 0;
	while (1) {
	
		if (!control_can_interrupt()) continue; // 正在转弯抓角就不用再走下去了，反正控不了
		// 更新边点号
        if (!graph_is_edge_point(cur_point) 
				&& is_on_edge()) {
			cur_point = get_next_point(head_direction, cur_point);
			nobeep();
		}
		
		_Bool interrupt = xxx(&dian, &last_, &xxx);
		// 先看看前面有没有人，有就停着
		if (scan_infront() 
			&& !graph_is_corner_point(cur_point)) {
			yesbeep(); // beep!!
			execute_command(C_BREAK);
			continue;
		}
		else {
			//nobeep();
		}
		
		if (graph_get_point_number(cur_point) == dest_pnt_list[dest_pnt_index]) {
			dest_pnt_index = (dest_pnt_index + 1) % 2;
		}
		
		curcmd = __move_to(dest_pnt_list[dest_pnt_index], D_NONE);
		execute_command(curcmd);
	}
}

Exemplo n.º 2

Arquivo: protocol_fsm.c Projeto: jiankangshiye/C

//状态机的运行函数 
//参数应该是一个指针 
//指针怎么变呢
void run_state(void *ch)
{
	state = init_state;
	u16 i = 11; //我测试的时候用的,有bug,容易死循环 
	while (state && i > 0)
	{
		printf("[%x] --- [%d]\n", (u32)ch, i);
		state = (*state)(ch);
		ch = get_next_point(ch, TYPE_SIZE);//取到下一个指针
		i--;
	}
}

Exemplo n.º 3

Arquivo: testroute.c Projeto: ShangxuanWu/RoboCup

CONTROL_CALLBACK_FUNC(testroute_getcorner_callback, cmd, ev) {
	if (ev == E_FINISHED) {
		control_clear_distance();
		wait_for_corner = 0;
		cur_point = get_next_point(head_direction, cur_point);
		curcmd = C_STOP;
		yesbeep();
	}
	else if (ev == E_CROSS) {
		wait_for_corner = 1;
	}
	
}

Exemplo n.º 4

Arquivo: environment_robarm.cpp Projeto: janfrs/kwc-ros-pkg

//if pTestedCells is NULL, then the tested points are not saved and it is more
//efficient as it returns as soon as it sees first invalid point
int EnvironmentROBARM::IsValidLineSegment(double x0, double y0, double x1, double y1, char **Grid2D,
					   		vector<CELLV>* pTestedCells)

{
	bresenham_param_t params;
	int nX, nY; 
    short unsigned int nX0, nY0, nX1, nY1;
	int retvalue = 1;
	CELLV tempcell;

	//make sure the line segment is inside the environment
	if(x0 < 0 || x0 >= EnvROBARMCfg.EnvWidth_m ||
		x1 < 0 || x1 >= EnvROBARMCfg.EnvWidth_m ||
		y0 < 0 || y0 >= EnvROBARMCfg.EnvHeight_m ||
		y1 < 0 || y1 >= EnvROBARMCfg.EnvHeight_m)
		return 0;

	ContXY2Cell(x0, y0, &nX0, &nY0);
	ContXY2Cell(x1, y1, &nX1, &nY1);


	//iterate through the points on the segment
	get_bresenham_parameters(nX0, nY0, nX1, nY1, &params);
	do {
		get_current_point(&params, &nX, &nY);
		if(Grid2D[nX][nY] == 1)
		{
			if(pTestedCells == NULL)
				return 0;
			else
				retvalue = 0;
		}

		//insert the tested point
		if(pTestedCells)
		{
			tempcell.bIsObstacle = (Grid2D[nX][nY] == 1);
			tempcell.x = nX;
			tempcell.y = nY;
			pTestedCells->push_back(tempcell);
		}
	} while (get_next_point(&params));


	return retvalue;
}