Nim leo niiiim
TaskMove.h@0:da791f233257, 2018-05-11 (annotated)
- Committer:
- Kiwicjam
- Date:
- Fri May 11 12:21:19 2018 +0000
- Revision:
- 0:da791f233257
start of rome2 p5;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kiwicjam | 0:da791f233257 | 1 | /* |
Kiwicjam | 0:da791f233257 | 2 | * TaskMove.h |
Kiwicjam | 0:da791f233257 | 3 | * Copyright (c) 2018, ZHAW |
Kiwicjam | 0:da791f233257 | 4 | * All rights reserved. |
Kiwicjam | 0:da791f233257 | 5 | */ |
Kiwicjam | 0:da791f233257 | 6 | |
Kiwicjam | 0:da791f233257 | 7 | #ifndef TASK_MOVE_H_ |
Kiwicjam | 0:da791f233257 | 8 | #define TASK_MOVE_H_ |
Kiwicjam | 0:da791f233257 | 9 | |
Kiwicjam | 0:da791f233257 | 10 | #include <cstdlib> |
Kiwicjam | 0:da791f233257 | 11 | #include "Controller.h" |
Kiwicjam | 0:da791f233257 | 12 | #include "Task.h" |
Kiwicjam | 0:da791f233257 | 13 | |
Kiwicjam | 0:da791f233257 | 14 | /** |
Kiwicjam | 0:da791f233257 | 15 | * This is a specific implementation of a task class that moves the robot with given velocities. |
Kiwicjam | 0:da791f233257 | 16 | */ |
Kiwicjam | 0:da791f233257 | 17 | class TaskMove : public Task { |
Kiwicjam | 0:da791f233257 | 18 | |
Kiwicjam | 0:da791f233257 | 19 | public: |
Kiwicjam | 0:da791f233257 | 20 | |
Kiwicjam | 0:da791f233257 | 21 | static const float DEFAULT_DURATION; /**< Default duration, given in [s]. */ |
Kiwicjam | 0:da791f233257 | 22 | |
Kiwicjam | 0:da791f233257 | 23 | TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity); |
Kiwicjam | 0:da791f233257 | 24 | TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity, float duration); |
Kiwicjam | 0:da791f233257 | 25 | virtual ~TaskMove(); |
Kiwicjam | 0:da791f233257 | 26 | virtual int run(float period); |
Kiwicjam | 0:da791f233257 | 27 | |
Kiwicjam | 0:da791f233257 | 28 | private: |
Kiwicjam | 0:da791f233257 | 29 | |
Kiwicjam | 0:da791f233257 | 30 | Controller& controller; // reference to controller object to use |
Kiwicjam | 0:da791f233257 | 31 | float translationalVelocity; // translational velocity, given in [m/s] |
Kiwicjam | 0:da791f233257 | 32 | float rotationalVelocity; // rotational velocity, given in [rad/s] |
Kiwicjam | 0:da791f233257 | 33 | float duration; // duration to move the robot, given in [s] |
Kiwicjam | 0:da791f233257 | 34 | float time; // current time, given in [s] |
Kiwicjam | 0:da791f233257 | 35 | }; |
Kiwicjam | 0:da791f233257 | 36 | |
Kiwicjam | 0:da791f233257 | 37 | #endif /* TASK_MOVE_H_ */ |