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# Representations/Perception/LinesPercept.cpp

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    00001 /**
    00002  * @file LinesPercept.cpp
    00003  *
    00004  * Implementation of class LinesPercept.
    00005  * @author <A href=mailto:juengel@informatik.hu-berlin.de>Matthias Juengel</A>
    00006  */
    00007
    00008 #include "LinesPercept.h"
    00009
    00010 void LinesPercept::reset(unsigned long frameNumber)
    00011 {
    00012   this->frameNumber = frameNumber;
    00013   for(int i = 0; i < numberOfTypes; ++i)
    00014     points[i].numberOfPoints = 0;
    00015
    00016   /* stuff for the mshselflocator */
    00017   numberOfLineCrossings = 0;
    00018   centerCircleFound = false;
    00019 }
    00020
    00021 void LinesPercept::add(LineType type, const Vector2<int>& pointOnField, const Vector2<int>& pointInImage,
    00022                                       double angleOnField, double angleInImage)
    00023 {
    00024   if(points[type].numberOfPoints < maxNumberOfPoints)
    00025   {
    00026     points[type].pointsOnField[points[type].numberOfPoints] = LinePoint(pointOnField, angleOnField);
    00027     points[type].pointsInImage[points[type].numberOfPoints++] = LinePoint(pointInImage, angleInImage);
    00028     // pointsOnField[type][numberOfPoints[type]] = LinePoint(pointOnField, angleOnField);
    00029     // pointsInImage[type][numberOfPoints[type]++] = LinePoint(pointInImage, angleInImage);
    00030   }
    00031 }