Diff: TaskMoveTo.h

Revision:

0:20ec9d702676

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskMoveTo.h	Tue Mar 31 11:58:30 2020 +0000
@@ -0,0 +1,46 @@
+/*
+ * TaskMoveTo.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef TASK_MOVE_TO_H_
+#define TASK_MOVE_TO_H_
+
+#include <cstdlib>
+#include "Controller.h"
+#include "Task.h"
+
+/**
+ * This is a specific implementation of a task class that moves the robot to a given pose.
+ */
+class TaskMoveTo : public Task {
+    
+    public:
+        
+        static const float  DEFAULT_VELOCITY;   /**< Default velocity value, given in [m/s]. */
+        static const float  DEFAULT_ZONE;       /**< Default zone value, given in [m]. */
+        
+                    TaskMoveTo(Controller& controller, float x, float y, float alpha);
+                    TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity);
+                    TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone);
+        virtual     ~TaskMoveTo();
+        virtual int run(float period);
+        
+    private:
+        
+        static const float  PI;
+        static const float  K1;
+        static const float  K2;
+        static const float  K3;
+        
+        Controller& controller; // reference to the controller object to use
+        float       x;          // x coordinate of target position, given in [m]
+        float       y;          // y coordinate of target position, given in [m]
+        float       alpha;      // target orientation, given in [rad]
+        float       velocity;   // maximum translational velocity, given in [m/s]
+        float       zone;       // zone threshold around target position, given in [m]
+};
+
+#endif /* TASK_MOVE_TO_H_ */
+