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ColumbusTopographicMap (double density=.7,int width=50,int height=50)
throw (bad_exception) | ColumbusTopographicMap |
Creates an empty map.
Parameters:
density | edge length of the grid squares |
width | initial map width in grid squares |
height | initial map height in grid squares |
~ColumbusTopographicMap ()
throw() | ~ColumbusTopographicMap |
[virtual]
void addChange (const double& xRobot,const double& yRobot,const double& visionAngle,const double& distance,Parser::object_type what)
throw (bad_exception) | addChange |
[virtual]
Every time after having received both the commands "Coordiantes" and "Radar", the ServerState is to call this method.
Parameters:
xRobot | x coordinate of the ServerState's robot |
yRobot | y coordinate of the ServerState's robot |
visionAngle | angle under which the ServerState's robot has received radar information, relative to the x axis |
distance | distance from the ServerState's robot to the observed object |
what | the type of the observed object |
const string& debugStr (int x0=0,int x1=50,int x0=0,int y1=50)
| debugStr |
[virtual]
For debug needs during development
void reset ()
throw() | reset |
[virtual]
To be called when a new round on a new map starts
void smallReset ()
throw() | smallReset |
[virtual]
To be called when a new round on the same map starts
void addWayPoint (int x,int y)
throw (bad_exception) | addWayPoint |
[virtual]
Appends a new waypoint to the waypoint list
Parameters:
x | x coordinate of the new waypoint |
y | y coordinate of the new waypoint |
vector | _map |
[private]
double _densityR | _densityR |
[private]
int _xmax | _xmax |
[private]
int _ymax | _ymax |
[private]
int _nWayPts | _nWayPts |
[private]
RTBGlobal::pvector | _wayPoints |
[private]
string _retval | _retval |
[private]
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