aboutsummaryrefslogtreecommitdiffstats
diff options
context:
space:
mode:
authorAlex Auvolat <alex.auvolat@ens.fr>2015-01-08 14:18:36 +0100
committerAlex Auvolat <alex.auvolat@ens.fr>2015-01-08 14:18:36 +0100
commit59c17e85597c16bcfbdc2416cc98e9572b86f34e (patch)
tree1d01050e95f69a33a2f72fedba4b7cc876840c73
parent8151e2cde5d855b410431764bff9c0e01b93efa9 (diff)
downloadRobotique-Projet-59c17e85597c16bcfbdc2416cc98e9572b86f34e.tar.gz
Robotique-Projet-59c17e85597c16bcfbdc2416cc98e9572b86f34e.zip
Add readme
-rw-r--r--README.md1
-rw-r--r--geom.hpp25
-rw-r--r--problem.hpp39
3 files changed, 64 insertions, 1 deletions
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..eb95230
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+Projet de robotique pour le cours de JP Laumond 2014-2015. Alex Auvolat, Jean Fabre.
diff --git a/geom.hpp b/geom.hpp
index 056a36e..5c374d2 100644
--- a/geom.hpp
+++ b/geom.hpp
@@ -28,7 +28,7 @@ struct line {
line(double aa, double bb, double cc) : a(aa), b(bb), c(cc) {}
- double dist(double x, double y) const {
+ double dist(vec p) const {
// TODO
return 1;
}
@@ -39,6 +39,17 @@ struct line {
};
+struct segment {
+ vec a, b;
+
+ segment(vec pa, vec pb) : a(pa), b(pb), {}
+
+ double dist(vec p) const {
+ // TODO
+ return 1;
+ }
+};
+
struct circle {
vec c;
double r;
@@ -58,4 +69,16 @@ struct circpoint {
}
};
+struct circarc {
+ circle c;
+ double theta1, theta2;
+
+ circarc(circle cc, double tha, double thb) : c(cc), theta1(tha), theta2(thb) {}
+
+ double dist(vec p) const {
+ // TODO
+ return 1;
+ }
+};
+
/* vim: set ts=4 sw=4 tw=0 noet :*/
diff --git a/problem.hpp b/problem.hpp
new file mode 100644
index 0000000..535affa
--- /dev/null
+++ b/problem.hpp
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <vector>
+
+#include "geom.hpp"
+
+struct obstacle {
+ circle c;
+};
+
+struct hilare_a { // System A
+ // paramètres globaux
+ double l;
+ double r_c_car, r_c_trolley;
+
+ // position actuelle
+ double x, y, theta, phi;
+
+ vec pos_trolley() const {
+ //TODO
+ return vec(0, 0);
+ }
+};
+
+struct problem {
+ std::vector<obstacle> map;
+
+ hilare_a begin_pos, end_pos;
+};
+
+struct solution {
+ std::vector<hilare_a> movement;
+
+ // TODO : décrire mieux un mouvement entre deux points (donner
+ // le centre de rotation, l'angle, etc.)
+};
+
+
+/* vim: set ts=4 sw=4 tw=0 noet :*/