From 59c17e85597c16bcfbdc2416cc98e9572b86f34e Mon Sep 17 00:00:00 2001
From: Alex Auvolat <alex.auvolat@ens.fr>
Date: Thu, 8 Jan 2015 14:18:36 +0100
Subject: Add readme

---
 README.md   |  1 +
 geom.hpp    | 25 ++++++++++++++++++++++++-
 problem.hpp | 39 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 64 insertions(+), 1 deletion(-)
 create mode 100644 README.md
 create mode 100644 problem.hpp

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..eb95230
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+Projet de robotique pour le cours de JP Laumond 2014-2015. Alex Auvolat, Jean Fabre.
diff --git a/geom.hpp b/geom.hpp
index 056a36e..5c374d2 100644
--- a/geom.hpp
+++ b/geom.hpp
@@ -28,7 +28,7 @@ struct line {
 
 	line(double aa, double bb, double cc) : a(aa), b(bb), c(cc) {}
 
-	double dist(double x, double y) const {
+	double dist(vec p) const {
 		// TODO
 		return 1;
 	}
@@ -39,6 +39,17 @@ struct line {
 
 };
 
+struct segment {
+	vec a, b;
+
+	segment(vec pa, vec pb) : a(pa), b(pb), {}
+
+	double dist(vec p) const {
+		// TODO
+		return 1;
+	}
+};
+
 struct circle {
 	vec c;
 	double r;
@@ -58,4 +69,16 @@ struct circpoint {
 	}
 };
 
+struct circarc {
+	circle c;
+	double theta1, theta2;
+
+	circarc(circle cc, double tha, double thb) : c(cc), theta1(tha), theta2(thb) {}
+
+	double dist(vec p) const {
+		// TODO
+		return 1;
+	}
+};
+
 /* vim: set ts=4 sw=4 tw=0 noet :*/
diff --git a/problem.hpp b/problem.hpp
new file mode 100644
index 0000000..535affa
--- /dev/null
+++ b/problem.hpp
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <vector>
+
+#include "geom.hpp"
+
+struct obstacle {
+	circle c;
+};
+
+struct hilare_a {	// System A
+	// paramètres globaux
+	double l;
+	double r_c_car, r_c_trolley;
+
+	// position actuelle
+	double x, y, theta, phi;
+
+	vec pos_trolley() const {
+		//TODO
+		return vec(0, 0);
+	}
+};
+
+struct problem {
+	std::vector<obstacle> map;
+
+	hilare_a begin_pos, end_pos;
+};
+
+struct solution {
+	std::vector<hilare_a> movement;
+
+	// TODO : décrire mieux un mouvement entre deux points (donner
+	// le centre de rotation, l'angle, etc.)
+};
+
+
+/* vim: set ts=4 sw=4 tw=0 noet :*/
-- 
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