src/ArsToolbox.h

Go to the documentation of this file.
00001 
00009 #ifndef ARSTOOLBOX_H_
00010 #define ARSTOOLBOX_H_
00011 
00012 #include "Geometry.h"
00013 
00014 class ArsToolbox
00015 {
00016 public:
00017 
00018         static int lineLineCrossPoint(double x1, double y1, double x2, double y2, 
00019                         double x3, double y3,double x4, double y4, double *cpx, 
00020                         double *cpy);
00021         
00022         static int circleCircleIntersection(double x0, double y0, double r0,
00023                         double x1, double y1, double r1,
00024                         double *xi, double *yi,
00025                         double *xi_prime, double *yi_prime);
00026                                        
00027         static double vectorsAngle(double v1ex, double v1ey, double v2ex, double v2ey);
00028         
00029         static double vectorNorm(double v1x, double v1y);
00030         
00031         static int circleLineIntersection(double p1x, double p1y, double p2x, 
00032                         double p2y, double cx, double cy, double r, double *v1x, 
00033                         double *v1y, double *v2x, double *v2y, bool line);
00034         static int circleLineIntersection(double p1x, double p1y, double p2x, 
00035                         double p2y, double cx, double cy, double r, double *v1x, 
00036                         double *v1y, double *v2x, double *v2y);
00037         
00038         static int createLineTo(double sx, double sy, double angle, double length, 
00039                         double *ex, double *ey);
00040         
00041         static double linePointDistance(double dX1, double dY1, double dX2, double dY2,
00042                         double dPX, double dPY);
00043         static double trim(double value, double min, double max);
00044         static int distancePointLine(VecPosition point, VecPosition lineStart, VecPosition lineEnd, double *distance);
00045 
00046         
00047         
00048         static double computeLeastInterceptTime(VecPosition b0, VecPosition v0, VecPosition r0, double vR, double tau = 2.0);
00049 };
00050 
00051 #endif
00052 

Generated on Thu Apr 26 22:45:26 2007 for GangOfSix(GOS)-RoboCupTeamProject by  doxygen 1.5.1-p1