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