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Diffstat (limited to 'problem.hpp')
| -rw-r--r-- | problem.hpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/problem.hpp b/problem.hpp index 6eadd0a..5d9269a 100644 --- a/problem.hpp +++ b/problem.hpp @@ -33,6 +33,19 @@ struct hilare_a { // System A return pos() + param->l * dir_trolley(); } + vec canon_curve_center() const { + double delta = cos(theta) * sin(theta + phi) - sin(theta) * cos(theta + phi); + assert(delta != 0); + + vec a = pos(); + vec b = pos_trolley(); + vec eth = vec::from_polar(1, theta); + vec ethph = vec::from_polar(1, theta + phi); + double xc = (vec::dot(a, eth) * sin(theta + phi) - vec::dot(b, ethph) * sin(theta)) / delta; + double yc = (cos(theta) * vec::dot(b, ethph) - cos(theta + phi) * vec::dot(a, eth)); + return vec(xc, yc); + } + bool intersects(const obstacle &o) const; // intersects an obstacle ? }; |