Robotics I Fall 2007
Robotics II Spring 2007 Robotics I Fall 2006
Code |
Txtfor(n=0;n<(k-1);n++){ x0=datax[n];
x1=datax[n+1];
y0=datay[n];
y1=datay[n+1];
dx = x1 - x0;
sx = (dx > 0) ? 1 : -1;
if (dx < 0) dx = -dx; dy = y1 - y0; sy = (dy > 0) ? 1 : -1;
if (dy < 0) dy = -dy; dx2 = dx << 1;
dy2 = dy << 1;
if (dy <= dx)
{
e = dy2 - dx;
for (i = 0; i <= dx; ++i) {
Out[abs(y0/2)][abs(x0/2)]=2;
while (e >= 0) { y0 += sy; e -= dx2; } x0 += sx; e += dy2; } }
else { temp = x0; x0 = y0; y0 = temp;
temp = dx; dx = dy; dy = temp;
temp = dx2; dx2 = dy2; dy2 = temp;
temp = sx; sx = sy;
sy = temp; e = dy2 - dx;
for (i = 0; i <= dx; ++i) {
Out[abs(x0)][abs(y0)]=2;
while (e >= 0) {
y0 += sy;
e -= dx2;
}
x0 += sx;
e += dy2;
}
} |