#pragma once
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#include <math.h>
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#include <vector>
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enum CurveType { Curve_Line=0, Curve_SLine };
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enum MotionType { Motion_MaxAxisTime=0, Motion_XAxisTime, Motion_YAxisTime, Motion_XYAxisTime };
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enum SchedulePathType { SchedulePathType_Nomal=0, SchedulePathType_Tsp, SchedulePathType_Sorting_XWay };
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enum ScheduleDirType { SchedulerDir_LeftTop=0, SchedulerDir_RightTop, SchedulerDir_LeftBottom, SchedulerDir_RightBottom };
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struct SMotionInfo
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{
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SMotionInfo()
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{
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Reset();
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}
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void Reset()
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{
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dDistanceStart = 0.0; // mm
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dDistanceEnd = 0.0; // mm
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dMoveSpeed = 0.0; // mm/sec
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dAccelTime = 0.0; // ms
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dDecelTime = 0.0; // ms
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dInpositionTime = 0.0; // ms
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}
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double GetDurationTime(int nCurve, double dDistance) const
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{
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if (dDistance<=0.0) return 0.0;
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double dAccelDist = 0.0;
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double dDecelDist = 0.0;
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double dTotalDistance = 0.0;
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double dTime = 0.0;
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switch(nCurve)
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{
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case Curve_Line:
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dAccelDist = (dMoveSpeed * (dAccelTime/1000.0)) / 2.0;
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dDecelDist = (dMoveSpeed * (dDecelTime/1000.0)) / 2.0;
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dTotalDistance = dDistance - (dAccelDist+dDecelDist);
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if (dAccelDist+dDecelDist > dDistance)
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{
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// double dTempDist = dDistance * (dAccelTime / (dAccelTime+dDecelTime));
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// double dTimeAccel = (dMoveSpeed / (dAccelTime/1000.0)) / 2.0;
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// dTimeAccel = sqrt(dTempDist/dTimeAccel) * 1000.0;
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// dTempDist = dDistance * (dDecelTime / (dAccelTime+dDecelTime));
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// double dTimeDecel = (dMoveSpeed / (dDecelTime/1000.0)) / 2.0;
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// dTimeDecel = sqrt(dTempDist/dTimeDecel) * 1000.0;
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// dTime = dTimeAccel + dTimeAccel;
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dTime = dAccelTime + dDecelTime;
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}
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else
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{
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dTime = dAccelTime + dDecelTime + (dTotalDistance/dMoveSpeed)*1000.0;
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}
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break;
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case Curve_SLine:
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dTime = 0.0;
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break;
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}
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return dTime + dInpositionTime;
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}
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double dDistanceStart;
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double dDistanceEnd;
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double dMoveSpeed;
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double dAccelTime;
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double dDecelTime;
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double dInpositionTime;
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};
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class AFX_EXT_CLASS CMotionParm
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{
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public:
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CMotionParm(void);
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CMotionParm(const CMotionParm& rhs);
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CMotionParm& operator=(const CMotionParm& rhs);
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virtual ~CMotionParm(void);
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void Reset();
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// getter
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int GetMoveType();
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int GetCurveType();
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double GetAutoFocusTime();
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double GetImageGrabTime();
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double GetMotionDelayTime();
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int GetMotionInfoCountX();
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int GetMotionInfoCountY();
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SMotionInfo* GetMotionInfoX(double dDistance);
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SMotionInfo* GetMotionInfoY(double dDistance);
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SMotionInfo* GetMotionInfoX(int nIndex);
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SMotionInfo* GetMotionInfoY(int nIndex);
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// setter
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void SetMoveType(int nType);
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void SetCurveType(int nType);
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void SetAutoFocusTime(double dTime);
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void SetImageGrabTime(double dTime);
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void SetMotionDelayTime(double dTime);
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void SetMotionInfoCountX(int nCount);
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void SetMotionInfoCountY(int nCount);
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bool SetMotionInfoX(int nIndex, const SMotionInfo& motionInfo);
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bool SetMotionInfoY(int nIndex, const SMotionInfo& motionInfo);
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static BOOL LoadParm(const CString& strFilename, CMotionParm& scheduleParam);
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static BOOL SaveParm(const CString& strFilename, CMotionParm& scheduleParam);
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protected:
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int nMoveType;
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int nCurveType;
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double dAutoFocusTime;
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double dImageGrabTime;
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double dMotionDelayTime;
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int nMotionInfoCountX;
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SMotionInfo* pMotionInfoX;
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int nMotionInfoCountY;
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SMotionInfo* pMotionInfoY;
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};
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class AFX_EXT_CLASS CPathSchedulerParm : public CMotionParm
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{
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public:
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CPathSchedulerParm(void);
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CPathSchedulerParm(const CPathSchedulerParm& rhs);
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CPathSchedulerParm& operator=(const CPathSchedulerParm& rhs);
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virtual ~CPathSchedulerParm(void);
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void Reset()
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{
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CMotionParm::Reset();
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Reset_Glass();
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Reset_Module();
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Reset_Flying();
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Reset_Sorting();
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Reset_Random();
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}
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static BOOL LoadParm(const CString& strFilename, CPathSchedulerParm& scheduleParam);
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static BOOL SaveParm(const CString& strFilename, CPathSchedulerParm& scheduleParam);
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public: //1)ÁÂÇ¥°è Á¤º¸
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void Reset_Glass()
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{
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bCenterCoord = 0;
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nOriginDir = SchedulerDir_LeftBottom;
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nGlassSizeX = 0;
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nGlassSizeY = 0;
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nBaseModuleDir = SchedulerDir_LeftBottom;
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}
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int GetCenterCoord() const { return bCenterCoord; }
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int GetOriginDir() const { return nOriginDir; }
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int GetGlassSizeX() const { return nGlassSizeX; }
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int GetGlassSizeY() const { return nGlassSizeY; }
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int GetBaseModuleDir() const { return nBaseModuleDir; }
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void SetCenterCoord(int bValue) { bCenterCoord = bValue; }
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void SetOriginDir(int nDir) { nOriginDir = nDir; }
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void SetGlassSizeX(int nSize) { nGlassSizeX = nSize; }
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void SetGlassSizeY(int nSize) { nGlassSizeY = nSize; }
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void SetBaseModuleDir(int nDir) { nBaseModuleDir = nDir; }
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protected: //1)ÁÂÇ¥°è Á¤º¸
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int bCenterCoord; // ¼¾ÅÍ ÁÂÇ¥°è À¯¹«
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int nOriginDir; // ¿øÁ¡¹æÇâ
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int nGlassSizeX; // ±Û¶ó½º Å©±â X
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int nGlassSizeY; // ±Û¶ó½º Å©±â Y
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int nBaseModuleDir; // ±âÁØ ¸ðµâ ¹æÇâ
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public: //2)¸ðµâ/Ãæµ¹ Á¤º¸
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void Reset_Module()
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{
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nSelectModuleType = 0;
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nModuleCount = 4;
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nCollisionDistX = 0;
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nCollisionDistY = 0;
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nUseShortPath = 1;
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}
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int GetModuleCount() const { return nModuleCount; }
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int GetCollisionDistX() const { return nCollisionDistX; }
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int GetCollisionDistY() const { return nCollisionDistY; }
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void SetModuleCount(int nCount) { nModuleCount = nCount; }
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void SetCollisionDistX(int nDist) { nCollisionDistX = nDist; }
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void SetCollisionDistY(int nDist) { nCollisionDistY = nDist; }
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int GetSelectModuleType( ) { return nSelectModuleType; }
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void SetSelectModuleType(int nIndex) { nSelectModuleType = nIndex; }
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bool GetUseShortPath() { return nUseShortPath; }
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void SetUseShortPath(bool nIndex) { nUseShortPath = nIndex; }
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protected: //2)¸ðµâ/Ãæµ¹ Á¤º¸
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int nModuleCount; // Çì´õÀÇ °³¼ö
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int nCollisionDistX; // XÃà Ãæµ¹°Å¸®
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int nCollisionDistY; // YÃà Ãæµ¹°Å¸®
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int nSelectModuleType; //Ãà Çϳª¸¸ ÁøÇàÇÒ¶§
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bool nUseShortPath;
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public: //3)ÇöóÀ× ¸®ºä
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void Reset_Flying()
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{
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// for flying
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nScanCount = 2;
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nScanMargin = 5000;
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sScanMotionInfo.dMoveSpeed = 19.0;
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sScanMotionInfo.dAccelTime = 0;
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sScanMotionInfo.dDecelTime = 0;
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sModuleMotionInfo.dMoveSpeed = 1000;
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sModuleMotionInfo.dAccelTime = 0.068;
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sModuleMotionInfo.dDecelTime = 0.068;
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sModuleMotionInfo.dInpositionTime = 0.1;
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}
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int GetScanCount() const { return nScanCount; }
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int GetScanMargin() const { return nScanMargin; }
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SMotionInfo* GetScanMotionInfo() { return &sScanMotionInfo; }
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SMotionInfo* GetModuleMotionInfo() { return &sModuleMotionInfo; }
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const SMotionInfo* GetScanMotionInfo() const { return &sScanMotionInfo; }
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const SMotionInfo* GetModuleMotionInfo() const { return &sModuleMotionInfo; }
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void SetScanCount(int nCount) { nScanCount = nCount; }
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void SetScanMargin(int nMargin) { nScanMargin = nMargin; }
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void SetScanMotionInfo(const SMotionInfo& sInfo) { sScanMotionInfo = sInfo; }
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void SetModuleMotionInfo(const SMotionInfo& sInfo) { sModuleMotionInfo = sInfo; }
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protected: //3)ÇöóÀ× ¸®ºä
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int nScanCount; // ½ºÄµ ¼ö
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int nScanMargin; // ½ºÄµ ¸¶Áø
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SMotionInfo sScanMotionInfo; // ½ºÄµ ¸ðÅÍ »ç¾ç
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SMotionInfo sModuleMotionInfo; // ¸ðµâ ¸ðÅÍ »ç¾ç
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public: //4)Ãà ¼ÒÆà Á¤º¸
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void Reset_Sorting()
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{
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nSortAxisType = 0;
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nSortOrderType = 0;
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}
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int GetSortAxisType() const { return nSortAxisType; }
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int GetSortOrderType() const { return nSortOrderType; }
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void SetSortAxisType(int nType) { nSortAxisType = nType; }
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void SetSortOrderType(int nType) { nSortOrderType = nType; }
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protected: //4)Ãà ¼ÒÆÃÁ¤º¸
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int nSortAxisType;
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int nSortOrderType;
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public: //5)·£´ý ÇöóÀÌ Á¤º¸
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void Reset_Random()
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{
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dRandomScale = 5.0;
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}
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double GetRandomScale() const { return dRandomScale; }
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void SetRandomScale(double dScale) { dRandomScale = dScale; }
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protected: //5)·£´ý ÇöóÀÌ Á¤º¸
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double dRandomScale;
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};
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struct SRangeData
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{
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SRangeData()
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{
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nModuleIdx = 0;
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nScanIdx = 0;
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nScanDir = 1;
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nScanStartX = 0;
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nScanEndX = 0;
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nLeft = 0;
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nTop = 0;
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nRight = 0;
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nBottom = 0;
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nColliPosX = -1;
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nColliPosY = -1;
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}
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int nModuleIdx; // module index
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int nScanIdx; // scan index
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int nScanDir; // scan dir 0/1
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int nScanStartX; // scan start x
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int nScanEndX; // scan end x
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int nLeft; // range left
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int nTop; // range top
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int nRight; // range right
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int nBottom; // range bottom
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int nColliPosX;
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int nColliPosY;
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};
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typedef std::vector<SRangeData> VectorRangeData;
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typedef std::vector<SRangeData>::iterator VectorRangeDataIt;
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typedef std::vector<SRangeData>::const_iterator constVectorRangeDataIt;
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inline void swap_value(int& nValue1, int& nValue2)
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{
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int nTmp = nValue1;
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nValue1 = nValue2;
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nValue2 = nTmp;
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}
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