yasarba71520/Line-Following-Robot
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Introduce angle calculation

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This commit is contained in:
Tim Zeuner 2023-01-31 21:03:51 +01:00
parent a9a24e5d72
commit 0aa939db39
2 changed files with 22 additions and 1 deletions
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16
AutonomousMode/Utils/utils.cpp
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@ -31,6 +31,22 @@ LFRVector::~LFRVector()
{ {
} }
double LFRVector::angle(const LFRVector& other) const
{
return acos(dot(other)/(this->norm()*other.norm()));
}
double LFRVector::dot(const LFRVector& other) const
{
return x*other.x + y*other.y;
}
double LFRVector::norm() const
{
return sqrt(x*x+y*y);
}
LFRLine::LFRLine(/* args */) : start(), dir() LFRLine::LFRLine(/* args */) : start(), dir()
{ {
} }

7
AutonomousMode/Utils/utils.h
View File

@ -1,6 +1,7 @@
#pragma once #pragma once
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include <cmath>
using namespace cv; using namespace cv;
using namespace std; using namespace std;
@ -30,6 +31,10 @@ public:
LFRVector(const LFRPoint& pt); LFRVector(const LFRPoint& pt);
~LFRVector(); ~LFRVector();
double angle(const LFRVector& other) const;
double dot(const LFRVector& other) const;
double norm() const;
}; };
class LFRLine class LFRLine
@ -60,7 +65,7 @@ public:
std::vector<cv::Rect> boundingBoxes; std::vector<cv::Rect> boundingBoxes;
std::vector<cv::Point> leftEdges; std::vector<cv::Point> leftEdges;
std::vector<cv::Point> middlePoints; std::vector<cv::Point> middlePoints;
int angle; //Angle of the contour the robot has to follow to double angle; //Angle of the contour the robot has to follow to
int index; //Index of the contour the robot has to follow to int index; //Index of the contour the robot has to follow to
FrameData(): contours(), boundingBoxes(), leftEdges(), middlePoints() {} FrameData(): contours(), boundingBoxes(), leftEdges(), middlePoints() {}