?? targetdrive.h
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#ifndef TARGETDRIVE_H#define TARGETDRIVE_H#include "RobotAction.h"#include "VFHState.h"class TargetDrive { public: TargetDrive(int tX, int tZ); void driveFrom(int x, int z, int theta); protected: double driveTheta(double dTh); double driveVel(double distSq); double getSafeTheta(double targetTh, double th); void freePieces(int freeSpaces [], int numSectors, int targetSect, int pieceSize, int** pieces, int piecesSize); int firstFreeSectorsRight(double targetTh, int threshold, double theta); int firstFreeSectorsLeft(double targetTh, int threshold, double theta); private: RobotAction* robotAction; VFHState* vfhState; int targetX, targetZ; int freeSectorsThreshold; // wie gro
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