Shuto Naruse
ai
ai.h@0:8ad510cbb76c, 2012-04-26 (annotated)
- Committer:
- narshu
- Date:
- Thu Apr 26 19:59:10 2012 +0000
- Revision:
- 0:8ad510cbb76c
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:8ad510cbb76c | 1 | #ifndef AI_H |
| narshu | 0:8ad510cbb76c | 2 | #define AI_H |
| narshu | 0:8ad510cbb76c | 3 | |
| narshu | 0:8ad510cbb76c | 4 | #include "rtos.h" |
| narshu | 0:8ad510cbb76c | 5 | |
| narshu | 0:8ad510cbb76c | 6 | class AI { |
| narshu | 0:8ad510cbb76c | 7 | public: |
| narshu | 0:8ad510cbb76c | 8 | AI(); |
| narshu | 0:8ad510cbb76c | 9 | |
| narshu | 0:8ad510cbb76c | 10 | Mutex targetlock; |
| narshu | 0:8ad510cbb76c | 11 | Thread thr_AI; |
| narshu | 0:8ad510cbb76c | 12 | |
| narshu | 0:8ad510cbb76c | 13 | struct Target { |
| narshu | 0:8ad510cbb76c | 14 | float x; |
| narshu | 0:8ad510cbb76c | 15 | float y; |
| narshu | 0:8ad510cbb76c | 16 | float theta; |
| narshu | 0:8ad510cbb76c | 17 | bool facing; |
| narshu | 0:8ad510cbb76c | 18 | } target; |
| narshu | 0:8ad510cbb76c | 19 | |
| narshu | 0:8ad510cbb76c | 20 | void settarget(float targetX, float targetY, float targetTheta, bool targetfacing = true); |
| narshu | 0:8ad510cbb76c | 21 | void settarget(Target); |
| narshu | 0:8ad510cbb76c | 22 | Target gettarget(); |
| narshu | 0:8ad510cbb76c | 23 | |
| narshu | 0:8ad510cbb76c | 24 | bool flag_terminate;// = false; |
| narshu | 0:8ad510cbb76c | 25 | |
| narshu | 0:8ad510cbb76c | 26 | private: |
| narshu | 0:8ad510cbb76c | 27 | |
| narshu | 0:8ad510cbb76c | 28 | void ai_thread (); |
| narshu | 0:8ad510cbb76c | 29 | static void aithreadwrapper(void const *arg){ ((AI*)arg)->ai_thread(); } |
| narshu | 0:8ad510cbb76c | 30 | |
| narshu | 0:8ad510cbb76c | 31 | }; |
| narshu | 0:8ad510cbb76c | 32 | |
| narshu | 0:8ad510cbb76c | 33 | #endif //AI_H |