41 lines
1.7 KiB
C
41 lines
1.7 KiB
C
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#ifndef TRAJECTOIRE_H
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#define TRAJECTOIRE_H
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enum trajectoire_type_t{
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TRAJECTOIRE_DROITE,
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TRAJECTOIRE_CIRCULAIRE,
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TRAJECTOIRE_BEZIER,
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};
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struct point_xy_t{
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double x, y;
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};
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struct point_xyo_t{
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struct point_xy_t point_xy;
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float orientation;
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};
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struct trajectoire_t {
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enum trajectoire_type_t type;
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struct point_xy_t p1, p2, p3, p4;
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float orientation_debut_rad, orientation_fin_rad;
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float rayon, angle_debut_degre, angle_fin_degre;
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float longueur;
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};
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float Trajectoire_get_longueur_mm(struct trajectoire_t * trajectoire);
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struct point_xyo_t Trajectoire_get_point(struct trajectoire_t * trajectoire, double abscisse);
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float Trajectoire_get_orientation_rad(struct trajectoire_t * trajectoire, float abscisse);
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float Trajectoire_avance(struct trajectoire_t * trajectoire, double abscisse, double distance_mm);
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double distance_points(struct point_xy_t point, struct point_xy_t point_old);
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void Trajectoire_circulaire(struct trajectoire_t * trajectoire, float centre_x, float centre_y, float angle_debut_degre, float angle_fin_degre,
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float rayon, float orientation_debut_rad, float orientation_fin_rad);
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void Trajectoire_droite(struct trajectoire_t * trajectoire, float p1_x, float p1_y, float p2_x, float p2_y, float orientation_debut_rad, float orientation_fin_rad);
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void Trajectoire_bezier(struct trajectoire_t * trajectoire, float p1_x, float p1_y, float p2_x, float p2_y, float p3_x, float p3_y, float p4_x, float p4_y,
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float orientation_debut_rad, float orientation_fin_rad);
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void Trajectoire_rotation(struct trajectoire_t * trajectoire, float p1_x, float p1_y, float orientation_debut_rad, float orientation_fin_rad);
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void Trajectoire_inverse(struct trajectoire_t * trajectoire);
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#endif
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