Ongoing60 #3486CF AOI Review Review History 프로그램 테스트 및 적용

LYW

2021-07-08 e10b8c2a3f6ee6b639dbb49ff6635d0657531d1e

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#pragma once
 
 
#include "akLinker.h"
#include "akSTL.h"
#include "akDE.h"
#include <vector>
namespace akSTL
{
    struct _Waypoint
    {
        double x;
        double y;
        double z;
        double speed;
    };
 
    class akSTL_DLLSPEC CakTrajcetoryModel
    {
    public:
        CakTrajcetoryModel(void);
        ~CakTrajcetoryModel(void);
 
    public:
        virtual int calculate(float dTime); //´õÀÌ»ó °è»êÇÒ °æ·ÎÁ¡ÀÌ ¾øÀ» °æ¿ì 2¸¦ ¹Ýȯ
        void setCurrentByWaypoint(int nWaypointIndex); //ÇöÀç°ªÀ» °æ·ÎÁ¡ ±âÁØÀ¸·Î ¼ÂÆÃ
 
    
 
    public:
        //ÇöÀç °ª
        khVector3d m_position; //À§Ä¡
        khVector3d m_rotate; //ÀÚ¼¼
        double m_velocity; //¼Óµµ
        double m_acc;    //°¡¼Óµµ
        khVector3d m_rotateAcc; //°¢¼Óµµ
 
        //ºÎ¿© ¹ÞÀº ¸í·É ¼³Á¤
        khVector3d m_TaskPosition;
        double m_TaskVelocity;
        double m_TaskAcc;
 
        //°´Ã¼ Á¤º¸ °ü¸®
        double mass; //¹«°Ô
        double maxSpeed; //ÃÖ´ë ¼Óµµ
        double minSpeed; //ÃÖÀú ¼Óµµ
        double maxAcceleration; //°¡¼Óµµ
        double maxDeceleration; //°¨¼Óµµ
 
        khVector3d m_rotateVelRate;
 
        //°æ·ÎÁ¡ °ü¸®
    public:
        int m_nWaypointType; //0 ¸¶Áö¸· °æ·ÎÁ¡À̸頳¡³½´Ù, 1°æ·ÎÁ¡ ¼øȸ, 2°æ·ÎÁ¡ ¿Õº¹
        int m_nWaypointSet; //ÇöÀç ¼³Á¤µÈ °æ·ÎÁ¡
        std::vector<_Waypoint> m_vecWaypoint;
 
 
    protected:
        void getAngle3d(double x1, double y1, double z1, double x2, double y2, double z2, double* heading, double* pitch);
        double getHeading(double x , double y);
    protected:
        CakDE m_movementmodel;
    };
 
}