Diff: TaskMoveTo.cpp

Revision:

1:08ca9b208045

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskMoveTo.cpp	Fri Mar 31 11:00:19 2017 +0000
@@ -0,0 +1,117 @@
+/*
+ * TaskMoveTo.cpp
+ * Copyright (c) 2017, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "TaskMoveTo.h"
+
+using namespace std;
+
+const float TaskMoveTo::DEFAULT_VELOCITY = 0.2f;
+const float TaskMoveTo::DEFAULT_ZONE = 0.01f;
+const float TaskMoveTo::PI = 3.14159265f;
+const float TaskMoveTo::K1 = 2.0f;
+const float TaskMoveTo::K2 = 1.0f;
+const float TaskMoveTo::K3 = 0.5f;
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = DEFAULT_VELOCITY;
+    this->zone = DEFAULT_ZONE;
+}
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ * @param velocity the maximum translational velocity, given in [m/s].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = velocity;
+    this->zone = DEFAULT_ZONE;
+}
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ * @param velocity the maximum translational velocity, given in [m/s].
+ * @param zone the zone threshold around the target position, given in [m].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = velocity;
+    this->zone = zone;
+}
+
+/**
+ * Deletes the task object.
+ */
+TaskMoveTo::~TaskMoveTo() {}
+
+/**
+ * This method is called periodically by a task sequencer.
+ * @param period the period of the task sequencer, given in [s].
+ * @return the status of this task, i.e. RUNNING or DONE.
+ */
+int TaskMoveTo::run(float period) {
+    
+    // bitte implementieren!
+    
+    float rho  = sqrt(pow(this->x - this->controller.getX(),2.0f) + pow(this->y - this->controller.getY(),2.0f));
+    if (rho == 0.0f) { // no need to move, already in range
+    }
+    else {
+        float gama = atan2(this->y - this->controller.getY(),this->x - this->controller.getX()) - this->alpha;
+        if (gama == 0) {
+            this->controller.setTranslationalVelocity(this->K1 * rho * cos(gama));
+        }
+        else if (gama > this->PI) {
+            gama = gama - PI;
+        }
+        else if (gama < this->PI) {
+            gama = gama + PI;
+        }
+        else {
+            float delta = gama + this->alpha - this->controller.getAlpha();
+            if (delta > this->PI) {
+                delta = delta - PI;
+            }
+            else if (delta < this->PI) {
+                delta = delta + PI;
+            }
+            this->controller.setTranslationalVelocity(this->K1 * rho * cos(gama));
+            this->controller.setRotationalVelocity(this->K2*gama+this->K1*sin(gama)*cos(gama)*(gama+this->K3*delta)/gama);
+        }
+    }
+            
+    if (rho < zone)
+        return DONE;
+    else 
+        return RUNNING;
+
+}
+