avr/modules_avr/asserv/eirbot/vect2/vect2.h

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/*  
 *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
 * 
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 *  Revision : $Id: vect2.h,v 1.2 2005/02/14 23:43:29 zer0 Exp $
 *
 */

#ifndef _REFERENTIEL_
#define _REFERENTIEL_

#include <utils/utils.h>

#include <math.h>

// dans config à terme ?
// pas vraiment utile tant qu'il n'existe qu'un seul type de flottants
typedef double vect2_distance;
typedef double vect2_angle_absolu; // obsolete
typedef double vect2_angle_relatif; // obsolete
typedef double vect2_angle;


// types de vecteurs
#define VECT2_ANGLE_K2PI_PRES 1 // option a ajouter

#define VECT2_CARTESIEN 0
#define VECT2_POLAIRE 2

struct vect2_cart
{
  u08                type;

  vect2_distance       x;
  vect2_distance       y;
};
typedef struct vect2_cart vect2_cart;

struct vect2_pol
{
  u08                type;

  vect2_distance       u;
  vect2_angle_absolu   teta;
};
typedef struct vect2_pol vect2_pol;


union vect2
{
  vect2_cart cart;
  vect2_pol  pol;
};
typedef union vect2 vect2;


/* types de repere : il n en existe qu un pour le moment */
#define REP2_ORTHO_ANGLE 1

struct rep2_ortho_angle
{
  u08 type;

  vect2 origine;
  vect2 x;
  vect2_angle_absolu   angle_max_fils; // unite d angle, 2*PI pour des radians, 360 pour des degrés, constant et egal a 2*PI
  vect2_angle_absolu   angle_max_pere; // pour le repere pere
};
typedef struct rep2_ortho_angle rep2_ortho_angle;

typedef rep2_ortho_angle rep2; // pareil// a defaut de mieux pour le moment





void vect2_mod1_angle(vect2_angle * dest, vect2_angle_absolu angle_max );
void vect2_mod2_angle(vect2_angle * dest, vect2_angle_absolu angle_max );

void vect2_2pol(vect2 * dest, vect2_angle_absolu angle_max);
void vect2_2cart(vect2 * dest, vect2_angle_absolu angle_max);
void vect2_2type(u08 type, vect2 * dest, vect2_angle_absolu angle_max);

void vect2_add(vect2 * dest, vect2 * src, vect2_angle_absolu angle_max);
void vect2_sub(vect2 * dest, vect2 * src, vect2_angle_absolu angle_max);

void vect2_homotetie(vect2_distance rapport, vect2 * dest);



void vect2_angle_to_rep(vect2_angle_absolu * angle, rep2 * repere);
void vect2_angle_from_rep(vect2_angle_absolu * angle, rep2 * repere);


void vect2_vect_to_rep(vect2 * dest, rep2 * repere);
void vect2_vect_from_rep(vect2 * dest, rep2 * repere);


void vect2_point_to_rep(vect2 * dest, rep2 * repere);

void vect2_point_from_rep(vect2 * dest, rep2 * repere);


#endif

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