File content as of revision 0:20ec9d702676:

/*
 * TaskMoveTo.cpp
 * Copyright (c) 2020, ZHAW
 * All rights reserved.
 */

#include <cmath>
#include "TaskMoveTo.h"

using namespace std;

const float TaskMoveTo::DEFAULT_VELOCITY = 0.5f;    // default velocity value, given in [m/s]
const float TaskMoveTo::DEFAULT_ZONE = 0.01f;       // default zone value, given in [m]
const float TaskMoveTo::PI = 3.14159265f;           // the constant PI
const float TaskMoveTo::K1 = 2.0f;                  // position controller gain parameter
const float TaskMoveTo::K2 = 2.0f;                  // position controller gain parameter
const float TaskMoveTo::K3 = 1.0f;                  // position controller gain parameter

/**
 * 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) {
     
     float roh = 0;
     float gam = 0;
     float delat = 0;
    
    roh = sqrt((x - controller.getX())*(x - controller.getX())+(y - controller.getY())*(y - controller.getY()));
    
    if (roh >= 0.01f) {
        gam = atan2(y - controller.getY(),x - controller.getX())-controller.getAlpha();
        delta = gam + controller.getAlpha - alpha;
       
        
        while (gam < -PI) {
            gam = gam + 2* PI;
        {
            
        while (gam > PI) {
            gam = gam - 2 * PI;
        }
            
        while  (delta < PI) {
            delta = delta + 2*PI;
        }
        
        while (delta > PI) {
            delta = delta - 2* PI;
        }
        
        if (fabs(gam) <= 0.0005f){
        controller.setRotationVelocity(0);
        }else {
            controller.setRotationVelocity(K2*gam+K1*sin(gam)*cos(gam) * ((gam+K3*delta)/gam);
        }
        controller.setTranslationVelocity(K1*roh*cos(gam));
        return RUNNING;
        
         
        
        }else {
            controller.setRotationVelocity(0.0f);
            controller.setRotationVelocity(0.0f);
            return DONE;    
        }