ROME2 - TI / Mbed 2 deprecated ROME2 - Praktikum

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

TaskMoveTo.h@1:08ca9b208045, 2017-03-31 (annotated)

Committer:
solcager
Date:
Fri Mar 31 11:00:19 2017 +0000
Revision:
1:08ca9b208045
P3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
solcager 1:08ca9b208045 1 /*
solcager 1:08ca9b208045 2 * TaskMoveTo.h
solcager 1:08ca9b208045 3 * Copyright (c) 2017, ZHAW
solcager 1:08ca9b208045 4 * All rights reserved.
solcager 1:08ca9b208045 5 */
solcager 1:08ca9b208045 6
solcager 1:08ca9b208045 7 #ifndef TASK_MOVE_TO_H_
solcager 1:08ca9b208045 8 #define TASK_MOVE_TO_H_
solcager 1:08ca9b208045 9
solcager 1:08ca9b208045 10 #include <cstdlib>
solcager 1:08ca9b208045 11 #include "Task.h"
solcager 1:08ca9b208045 12 #include "Controller.h"
solcager 1:08ca9b208045 13
solcager 1:08ca9b208045 14 /**
solcager 1:08ca9b208045 15 * This is a specific implementation of a task class that moves the robot to a given pose.
solcager 1:08ca9b208045 16 */
solcager 1:08ca9b208045 17 class TaskMoveTo : public Task {
solcager 1:08ca9b208045 18
solcager 1:08ca9b208045 19 public:
solcager 1:08ca9b208045 20
solcager 1:08ca9b208045 21 static const float DEFAULT_VELOCITY; /**< Default velocity value, given in [m/s]. */
solcager 1:08ca9b208045 22 static const float DEFAULT_ZONE; /**< Default zone value, given in [m]. */
solcager 1:08ca9b208045 23
solcager 1:08ca9b208045 24 TaskMoveTo(Controller& controller, float x, float y, float alpha);
solcager 1:08ca9b208045 25 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity);
solcager 1:08ca9b208045 26 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone);
solcager 1:08ca9b208045 27 virtual ~TaskMoveTo();
solcager 1:08ca9b208045 28 virtual int run(float period);
solcager 1:08ca9b208045 29
solcager 1:08ca9b208045 30 private:
solcager 1:08ca9b208045 31
solcager 1:08ca9b208045 32 static const float PI;
solcager 1:08ca9b208045 33 static const float K1;
solcager 1:08ca9b208045 34 static const float K2;
solcager 1:08ca9b208045 35 static const float K3;
solcager 1:08ca9b208045 36
solcager 1:08ca9b208045 37 Controller& controller; // reference to the controller object to use
solcager 1:08ca9b208045 38 float x; // x coordinate of target position, given in [m]
solcager 1:08ca9b208045 39 float y; // y coordinate of target position, given in [m]
solcager 1:08ca9b208045 40 float alpha; // target orientation, given in [rad]
solcager 1:08ca9b208045 41 float velocity; // maximum translational velocity, given in [m/s]
solcager 1:08ca9b208045 42 float zone; // zone threshold around target position, given in [m]
solcager 1:08ca9b208045 43 };
solcager 1:08ca9b208045 44
solcager 1:08ca9b208045 45 #endif /* TASK_MOVE_TO_H_ */
solcager 1:08ca9b208045 46