www.pudn.com > Product_Submit2004.rar > WorldObject.h, change:2004-04-22,size:1236b


#ifndef _WORLDOBJECT_H 
#define _WORLDOBJECT_H 
 
class WorldObject 
{ 
public: 
  enum WorldObjectType { 
    WM_OT_INVALID = 0, 
    WM_OT_BALL_IND = 1, //Individual Ball 
    WM_OT_BALL_COOP = 2, //Cooperative Ball 
    WM_OT_SELF = 3, 
    WM_OT_ROBOT_RED = 4, 
    WM_OT_ROBOT_BLUE = 5, 
    WM_GOAL_Y = 6, 
    WM_GOAL_B = 7, 
    WM_BEACON_YP = 8, 
    WM_BEACON_GP = 9, 
    WM_BEACON_BP = 10, 
    WM_BEACON_PY = 11, 
    WM_BEACON_PG = 12, 
    WM_BEACON_PB = 13 
  }; 
 
	WorldObject(); 
	 
	//Note: Thoughout LOCWM positive y is defined as looking at the blue goal 
	//Heading = 0 radians when facing blue goal 
 
	//This is converted to positive y defined as looking at the attacking goal at the end of 
	//LOCWM before it is sent to BVR and this is the convention that BVR uses. 
 
  WorldObjectType object_; 
  double x_;			//x co-ordinate (cm) 
  double y_;			//y co-ordinate (cm) 
  double heading_; 	//orientation (radians -PI to PI) 
  double uncertX_;		//Estimated variance of x co-ord estimate 
  double uncertY_;		//Estimated variance of y co-ord estimate 
  double uncertHeading_;//Estimated variance of heading estimate 
  bool objSeenThisFrame_;//Has object been seen this frame 
}; 
 
#endif //_WORLDOBJECT_H