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Dependencies: mbed
TaskMove Class Reference
This is a specific implementation of a task class that moves the robot with given velocities. More...
#include <TaskMove.h>
Inherits Task.
Public Member Functions | |
| TaskMove (Controller &controller, float translationalVelocity, float rotationalVelocity) | |
| Creates a task object that moves the robot with given velocities. | |
| TaskMove (Controller &controller, float translationalVelocity, float rotationalVelocity, float duration) | |
| Creates a task object that moves the robot with given velocities. | |
| virtual | ~TaskMove () |
| Deletes the task object. | |
| virtual int | run (float period) |
| This method is called periodically by a task sequencer. | |
Static Public Attributes | |
| static const float | DEFAULT_DURATION = 3600.0f |
| Default duration, given in [s]. | |
| static const int | FAULT = -1 |
| Task return value. | |
| static const int | RUNNING = 0 |
| Task return value. | |
| static const int | DONE = 1 |
| Task return value. | |
Detailed Description
This is a specific implementation of a task class that moves the robot with given velocities.
Definition at line 17 of file TaskMove.h.
Constructor & Destructor Documentation
| TaskMove | ( | Controller & | controller, |
| float | translationalVelocity, | ||
| float | rotationalVelocity | ||
| ) |
Creates a task object that moves the robot with given velocities.
- Parameters:
-
conroller a reference to the controller object of the robot. translationalVelocity the translational velocity, given in [m/s]. rotationalVelocity the rotational velocity, given in [rad/s].
Definition at line 20 of file TaskMove.cpp.
| TaskMove | ( | Controller & | controller, |
| float | translationalVelocity, | ||
| float | rotationalVelocity, | ||
| float | duration | ||
| ) |
Creates a task object that moves the robot with given velocities.
- Parameters:
-
conroller a reference to the controller object of the robot. translationalVelocity the translational velocity, given in [m/s]. rotationalVelocity the rotational velocity, given in [rad/s]. duration the duration to move the robot, given in [s].
Definition at line 36 of file TaskMove.cpp.
| ~TaskMove | ( | ) | [virtual] |
Deletes the task object.
Definition at line 48 of file TaskMove.cpp.
Member Function Documentation
| int run | ( | float | period ) | [virtual] |
This method is called periodically by a task sequencer.
- Parameters:
-
period the period of the task sequencer, given in [s].
- Returns:
- the status of this task, i.e. RUNNING or DONE.
Reimplemented from Task.
Definition at line 55 of file TaskMove.cpp.
Field Documentation
const float DEFAULT_DURATION = 3600.0f [static] |
Default duration, given in [s].
Definition at line 21 of file TaskMove.h.
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