14 #ifndef __SELF_LOCALIZATION__
15 #define __SELF_LOCALIZATION__
36 void update(std::int32_t update_degree)
49 float moving_distance_mean;
51 float current_x, current_y, current_angle;
52 bool is_below_of_normal_border;
53 float start_x, start_y, goal_x, goal_y;
56 bool is_below_normal_vector;
61 SelfLocalization(std::int32_t left_motor_sl, std::int32_t right_motor_sl,
bool save =
true);
62 void update(std::int32_t left_motor_sl, std::int32_t right_motor_sl);
72 float _goal_y,
float _current_x,
float _current_y);
75 float _current_x,
float _current_y);
std::int32_t rotation_angle
void init_normal_vector(float _start_x, float _start_y, float _goal_x, float _goal_y, float _current_x, float _current_y)
void update(std::int32_t update_degree)
bool approached_target_coordinates(float target_x, float target_y, float target_radius)
void update(std::int32_t left_motor_sl, std::int32_t right_motor_sl)
bool is_below_target_line_of_x(float target_x)
void writing_current_coordinates()
float calculate_between_ev3_and_border(float _start_x, float _start_y, float _goal_x, float _goal_y, float _current_x, float _current_y)
void calculate_current_angle()
MotorAngle(std::int32_t degree)
std::int32_t current_angle
bool is_below_target_line_of_y(float target_y)
bool is_over_target_line_of_x(float target_x)
bool is_over_normal_vector(float _current_x, float _current_y)
bool is_over_target_line_of_y(float target_y)
SelfLocalization(std::int32_t left_motor_sl, std::int32_t right_motor_sl, bool save=true)