ROME2 / Mbed 2 deprecated ROME2_P5

ROME_P5

Dependencies:   mbed

TaskMoveTo.h@0:29be10cb0afc, 2018-04-27 (annotated)

Committer:
Inaueadr
Date:
Fri Apr 27 08:47:34 2018 +0000
Revision:
0:29be10cb0afc
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Inaueadr 0:29be10cb0afc 1 /*
Inaueadr 0:29be10cb0afc 2 * TaskMoveTo.h
Inaueadr 0:29be10cb0afc 3 * Copyright (c) 2018, ZHAW
Inaueadr 0:29be10cb0afc 4 * All rights reserved.
Inaueadr 0:29be10cb0afc 5 */
Inaueadr 0:29be10cb0afc 6
Inaueadr 0:29be10cb0afc 7 #ifndef TASK_MOVE_TO_H_
Inaueadr 0:29be10cb0afc 8 #define TASK_MOVE_TO_H_
Inaueadr 0:29be10cb0afc 9
Inaueadr 0:29be10cb0afc 10 #include <cstdlib>
Inaueadr 0:29be10cb0afc 11 #include "Controller.h"
Inaueadr 0:29be10cb0afc 12 #include "Task.h"
Inaueadr 0:29be10cb0afc 13
Inaueadr 0:29be10cb0afc 14 /**
Inaueadr 0:29be10cb0afc 15 * This is a specific implementation of a task class that moves the robot to a given pose.
Inaueadr 0:29be10cb0afc 16 */
Inaueadr 0:29be10cb0afc 17 class TaskMoveTo : public Task {
Inaueadr 0:29be10cb0afc 18
Inaueadr 0:29be10cb0afc 19 public:
Inaueadr 0:29be10cb0afc 20
Inaueadr 0:29be10cb0afc 21 static const float DEFAULT_VELOCITY; /**< Default velocity value, given in [m/s]. */
Inaueadr 0:29be10cb0afc 22 static const float DEFAULT_ZONE; /**< Default zone value, given in [m]. */
Inaueadr 0:29be10cb0afc 23
Inaueadr 0:29be10cb0afc 24 TaskMoveTo(Controller& controller, float x, float y, float alpha);
Inaueadr 0:29be10cb0afc 25 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity);
Inaueadr 0:29be10cb0afc 26 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone);
Inaueadr 0:29be10cb0afc 27 virtual ~TaskMoveTo();
Inaueadr 0:29be10cb0afc 28 virtual int run(float period);
Inaueadr 0:29be10cb0afc 29
Inaueadr 0:29be10cb0afc 30 private:
Inaueadr 0:29be10cb0afc 31
Inaueadr 0:29be10cb0afc 32 static const float PI;
Inaueadr 0:29be10cb0afc 33 static const float K1;
Inaueadr 0:29be10cb0afc 34 static const float K2;
Inaueadr 0:29be10cb0afc 35 static const float K3;
Inaueadr 0:29be10cb0afc 36
Inaueadr 0:29be10cb0afc 37 Controller& controller; // reference to the controller object to use
Inaueadr 0:29be10cb0afc 38 float x; // x coordinate of target position, given in [m]
Inaueadr 0:29be10cb0afc 39 float y; // y coordinate of target position, given in [m]
Inaueadr 0:29be10cb0afc 40 float alpha; // target orientation, given in [rad]
Inaueadr 0:29be10cb0afc 41 float velocity; // maximum translational velocity, given in [m/s]
Inaueadr 0:29be10cb0afc 42 float zone; // zone threshold around target position, given in [m]
Inaueadr 0:29be10cb0afc 43 };
Inaueadr 0:29be10cb0afc 44
Inaueadr 0:29be10cb0afc 45 #endif /* TASK_MOVE_TO_H_ */
Inaueadr 0:29be10cb0afc 46