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00022 #include "field_lines.h"
00023 #include <fvutils/draw/drawer.h>
00024 #include <core/exceptions/software.h>
00025
00026 #include <cmath>
00027
00028 using fawkes::cart_coord_2d_t;
00029 using fawkes::field_line_t;
00030 using std::min;
00031 using std::max;
00032
00033 namespace firevision {
00034 #if 0
00035 }
00036 #endif
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00090
00091 FieldLines::FieldLines(std::string field_name, float field_length, float field_width, float line_width):
00092 std::list<field_line_t>(),
00093 _field_name(field_name)
00094 {
00095 _field_length = field_length;
00096 _field_width = field_width;
00097 _line_width = line_width;
00098 _field_offsets.x = 12345;
00099 }
00100
00101
00102
00103
00104 FieldLines::~FieldLines()
00105 {
00106 }
00107
00108
00109
00110
00111
00112 float
00113 FieldLines::get_line_width() const
00114 {
00115 return _line_width;
00116 }
00117
00118
00119
00120
00121 const std::string&
00122 FieldLines::get_name() const
00123 {
00124 return _field_name;
00125 }
00126
00127
00128
00129
00130
00131 void
00132 FieldLines::calc_offsets()
00133 {
00134 cart_coord_2d_t mins = { 0, 0 };
00135 cart_coord_2d_t maxs = { 0, 0 };
00136
00137 float f;
00138
00139 for (FieldLines::iterator it = begin(); it != end(); ++it) {
00140
00141 f = min(it->start.x, it->end.x);
00142 if (f < mins.x) mins.x = f;
00143 f = max(it->start.x, it->end.x);
00144 if (f > maxs.x) maxs.x = f;
00145
00146
00147 f = min(it->start.y, it->end.y);
00148 if (f < mins.y) mins.y = f;
00149 f = max(it->start.y, it->end.y);
00150 if (f > maxs.y) maxs.y = f;
00151 }
00152
00153 _field_offsets.x = -(mins.x + maxs.x) / 2.f;
00154 _field_offsets.y = -(mins.y + maxs.y) / 2.f;
00155 }
00156
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00173
00174 FieldLines6x4::FieldLines6x4(float length, float width):
00175 FieldLines("FieldLines6x4", length, width, 0.05f)
00176 {
00177 init();
00178 calc_offsets();
00179 }
00180
00181 FieldLines6x4::~FieldLines6x4()
00182 {
00183 }
00184
00185 void
00186 FieldLines6x4::init()
00187 {
00188
00189 push_back(field_line_t(3.f, 2.f, 3.f, -2.f));
00190
00191 push_back(field_line_t(2.4f, 1.5f, 2.4f, -1.5f));
00192
00193 push_back(field_line_t(3.f, 1.5f, 2.4f, 1.5f));
00194 push_back(field_line_t(3.f, -1.5f, 2.4f, -1.5f));
00195
00196
00197 push_back(field_line_t(1.2f, 0.05f, 1.2f, -0.05f));
00198 push_back(field_line_t(1.15f, 0.f, 1.25f, 0.f));
00199
00200
00201 push_back(field_line_t(0.f, 2.f, 0.f, -2.f));
00202
00203 push_back(field_line_t(3.f, 2.f, -3.f, 2.f));
00204 push_back(field_line_t(3.f, -2.f, -3.f, -2.f));
00205
00206
00207 _field_circles.push_back(fawkes::arc_t(0.6f, 0.f, 0.f));
00208
00209
00210 push_back(field_line_t(-3.f, 2.f, -3.f, -2.f));
00211
00212 push_back(field_line_t(-2.4f, 1.5f, -2.4f, -1.5f));
00213
00214 push_back(field_line_t(-3.f, 1.5f, -2.4f, 1.5f));
00215 push_back(field_line_t(-3.f, -1.5f, -2.4f, -1.5f));
00216
00217
00218 push_back(field_line_t(-1.2f, 0.05f, -1.2f, -0.05f));
00219 push_back(field_line_t(-1.15f, 0.f, -1.25f, 0.f));
00220 }
00221
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00240
00241 FieldLinesCityTower::FieldLinesCityTower(float length, float width):
00242 FieldLines("FieldLinesCityTower", length, width, 0.09f)
00243 {
00244 init();
00245 calc_offsets();
00246 }
00247
00248 FieldLinesCityTower::~FieldLinesCityTower()
00249 {
00250 }
00251
00252 void
00253 FieldLinesCityTower::init()
00254 {
00255
00256 push_back(field_line_t(4.97f, 2.455f, 4.97f, -2.455f));
00257
00258 push_back(field_line_t(3.82f, 1.49f, 3.82f, -1.49f));
00259
00260 push_back(field_line_t(4.97f, 1.49f, 3.82f, 1.49f));
00261 push_back(field_line_t(4.97f, -1.49f, 3.82f, -1.49f));
00262
00263
00264 push_back(field_line_t(0.f, 2.455f, 0.f, -2.455f));
00265
00266 push_back(field_line_t(4.97f, 2.455f, -1.44f, 2.455f));
00267 push_back(field_line_t(4.97f, -2.455f, -1.44f, -2.455f));
00268
00269
00270 _field_circles.push_back(fawkes::arc_t(1.1f, 0.f, 0.f));
00271
00272
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00280
00281 }
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00303 FieldLinesCityTowerSeminar::FieldLinesCityTowerSeminar(float length, float width):
00304 FieldLines("FieldLinesCityTowerSeminar", length, width, 0.05f)
00305 {
00306 init();
00307 calc_offsets();
00308 }
00309
00310 FieldLinesCityTowerSeminar::~FieldLinesCityTowerSeminar()
00311 {
00312 }
00313
00314 void
00315 FieldLinesCityTowerSeminar::init()
00316 {
00317
00318 push_back(field_line_t(2.725f, 1.825f, 2.725f, -1.825f));
00319
00320 push_back(field_line_t(2.125f, 1.5f, 2.125f, -1.5f));
00321
00322 push_back(field_line_t(2.725f, 1.5f, 2.125f, 1.5f));
00323 push_back(field_line_t(2.725f, -1.5f, 2.125f, -1.5f));
00324
00325
00326 push_back(field_line_t(0.925f, 0.05f, 0.925f, -0.05f));
00327 push_back(field_line_t(0.875f, 0.f, 0.975f, 0.f));
00328
00329
00330 push_back(field_line_t(0.f, 1.825f, 0.f, -1.825f));
00331
00332 push_back(field_line_t(2.725f, 1.825f, -2.725f, 1.825f));
00333 push_back(field_line_t(2.725f, -1.825f, -2.725f, -1.825f));
00334
00335
00336 _field_circles.push_back(fawkes::arc_t(0.57f, 0.f, 0.f));
00337
00338
00339
00340 push_back(field_line_t(-2.725f, 1.825f, -2.725f, -1.825f));
00341
00342 push_back(field_line_t(-2.125f, 1.5f, -2.125f, -1.5f));
00343
00344 push_back(field_line_t(-2.725f, 1.5f, -2.125f, 1.5f));
00345 push_back(field_line_t(-2.725f, -1.5f, -2.125f, -1.5f));
00346
00347
00348 push_back(field_line_t(-0.925f, 0.05f, -0.925f, -0.05f));
00349 push_back(field_line_t(-0.875f, 0.f, -0.975f, 0.f));
00350 }
00351
00352
00353 }