Navigation.h

[詳解]

 #ifndef __NAVIGATION__
 #define __NAVIGATION__
 
 #include <cmath>
 #include "LineTracerWalker.h"
 #include "SelfLocalization.h"
 
 
 class Navigation: public LineTracerWalker {
 public:
     Navigation(std::int32_t, std::int32_t, bool isSave=true);
     
    bool setLine(float, float, float, float);
    float getDiffLine(float, float);
    bool checkEndOfLine();
    bool calculateValue(std::int32_t, std::int32_t, bool);
    bool calculateAngle(std::int32_t, std::int32_t, bool); 
    void calculate_line_angle(bool);
    SelfLocalization sl;
    int goal_angle;
    
 public:
    float start_x;
    float start_y;
    float goal_x; 
    float goal_y;
    float current_x;
    float current_y;
    float diff_line;
 };
 
 
 #endif