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56 lines
1.0 KiB
C
56 lines
1.0 KiB
C
7 months ago
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/**
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* FILENAME: World
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* DESCRIPTION: World data from Python
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* AUTHOR: Miguel Abreu (m.abreu@fe.up.pt)
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* DATE: 2021
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*/
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#pragma once
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#include "Vector3f.h"
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#include "Singleton.h"
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#include "Matrix4D.h"
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#include "Line6f.h"
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#include <vector>
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#include <array>
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using namespace std;
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class World {
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friend class Singleton<World>;
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private:
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World(){};
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public:
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//Feet variables: (0) left, (1) right
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bool foot_touch[2]; // is foot touching ground
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Vector3f foot_contact_rel_pos[2]; // foot_transform * translation(foot_contact_pt)
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bool ball_seen;
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Vector3f ball_rel_pos_cart;
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Vector3f ball_cheat_abs_cart_pos;
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Vector3f my_cheat_abs_cart_pos;
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struct sLMark {
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bool seen;
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bool isCorner;
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Vector3f pos;
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Vector3f rel_pos;
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};
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sLMark landmark[8];
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struct sLine {
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Vector3f start, end;
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sLine(const Vector3f& s, const Vector3f& e) : start(s), end(e) {};
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};
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vector<sLine> lines_polar;
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};
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typedef Singleton<World> SWorld;
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