1 #include<cmath>
2 #include<cstdio>
3 #include<algorithm>
4 #include<iostream>
5 using namespace std;
6 #define SIZE 1005
7 #define INF 0x3f3f3f3f
8 int n,m,cnt,tot,mrk,tp,num,cnt_M,First_P;
9 int cnn[SIZE],usd[SIZE],M[SIZE];
10 int stk[SIZE],ans[SIZE];
11 double PIT[SIZE][SIZE];
12 double CNT[SIZE];
13 double dis[SIZE],agl[SIZE];
14 double xp[SIZE],yp[SIZE];
15 double K[SIZE],B[SIZE];
16 double Max_x=-INF,Min_x=INF,Max_y=-INF,Min_y=INF,Max_x_i,Max_y_i,Min_x_i,Min_y_i;
17 struct node{
18 double x;
19 double y;
20 node(){}
21 node(double x,double y):x(x),y(y){}
22 }pos[SIZE],pit[SIZE];
23 const double pi=acos(-1.0);
24 bool compare(double a,double b) { return fabs(a-b)<150; }
25 double changetopi(double s) { return (s*pi)/180; }
26 void change(){
27 double ale1=acos((pit[First_P].y-pit[First_P==m?1:First_P+1].y)/(sqrt((pit[First_P].y-pit[First_P==m?1:First_P+1].y)*(pit[First_P].y-pit[First_P==m?1:First_P+1].y)+(pit[First_P].x-pit[First_P==m?1:First_P+1].x)*(pit[First_P].x-pit[First_P==m?1:First_P+1].x))));
28 double ale2=acos((yp[M[2]]-yp[M[1]])/(sqrt((xp[M[2]]-xp[M[1]])*(xp[M[2]]-xp[M[1]])+(yp[M[2]]-yp[M[1]])*(yp[M[2]]-yp[M[1]]))));
29 double drt=ale2-ale1;
30 double xnw=dis[M[1]]*cos(agl[M[1]]+drt);
31 double ynw=dis[M[1]]*sin(agl[M[1]]+drt);
32 double x0=pit[First_P].x-xnw;
33 double y0=pit[First_P].y-ynw;
34 printf("x=%.4lf y=%.4lf theta=%.4lf\n",x0,y0,drt);
35 }
36 void F_ind(){
37 bool flag = false;
38 for(int i=1;i<=m;i++){
39 int jj=1;
40 for(int j=1;j<=m;j++) if(compare(PIT[i][j],CNT[jj+1])) jj++;
41 if(jj>=cnt_M-1){
42 flag=true;
43 First_P=i;
44 break;
45 }
46 }
47 return;
48 }
49 void PREPARATION()
50 {
51 freopen("data.txt","r",stdin);
52 //freopen("13_ans.out","w",stdout);
53 scanf("%d",&m);
54 for(int i=1;i<=m;i++) scanf("%lf%lf",&pit[i].x,&pit[i].y);
55 //按照逆时针读入数据;
56 for(int i=1;i<=m;i++){
57 int jj=0;
58 for(int j=i+1;j<=m;j++)
59 PIT[i][++jj] = sqrt((pit[i].x-pit[j].x)*(pit[i].x-pit[j].x)+(pit[i].y-pit[j].y)*(pit[i].y-pit[j].y));
60 for(int j=1;j<=i;j++)
61 PIT[i][++jj] = sqrt((pit[i].x-pit[j].x)*(pit[i].x-pit[j].x)+(pit[i].y-pit[j].y)*(pit[i].y-pit[j].y));
62 }
63 scanf("%d",&cnt);
64 for(int i=1;i<=cnt;i++){
65 scanf("%lf%lf%d",&agl[i],&dis[i],&mrk);
66 agl[i]=changetopi(agl[i]);
67 xp[i]=dis[i]*cos(agl[i]);
68 yp[i]=dis[i]*sin(agl[i]);
69 if(yp[i]<=Min_y) Min_y=yp[i],M[1]=i;//Min_y_i=i;
70 if(xp[i]>=Max_x) Max_x=xp[i],M[2]=i;//Max_x_i=i;
71 if(yp[i]>=Max_y) Max_y=yp[i],M[3]=i;//Max_y_i=i;
72 if(xp[i]<=Min_x) Min_x=xp[i],M[4]=i;//Min_x_i=i;
73 }
74 for(int i=1;i<4;i++)
75 for(int j=i+1;j<=4;j++)
76 if(M[i]==M[j])
77 for(int w=j+1;w<=4;w++)
78 M[w-1]=M[w];
79 int t;
80 for(int i=4;i>=1;i++)
81 if(M[i]){
82 t=i;
83 break;
84 }
85 cnt_M=t;
86 for(int i=2;i<=cnt_M;i++)
87 CNT[i]=sqrt((xp[M[1]]-xp[M[i]])*(xp[M[1]]-xp[M[i]])+(yp[M[1]]-yp[M[i]])*(yp[M[1]]-yp[M[i]]));
88 }
89 int main(){
90 PREPARATION();
91 F_ind();change();
92 return 0;
93 }
