Nim leo niiiim
TaskMoveTo.cpp@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 | * TaskMoveTo.cpp |
Kiwicjam | 0:da791f233257 | 3 | * Copyright (c) 2017, ZHAW |
Kiwicjam | 0:da791f233257 | 4 | * All rights reserved. |
Kiwicjam | 0:da791f233257 | 5 | */ |
Kiwicjam | 0:da791f233257 | 6 | |
Kiwicjam | 0:da791f233257 | 7 | #include <cmath> |
Kiwicjam | 0:da791f233257 | 8 | #include "TaskMoveTo.h" |
Kiwicjam | 0:da791f233257 | 9 | |
Kiwicjam | 0:da791f233257 | 10 | using namespace std; |
Kiwicjam | 0:da791f233257 | 11 | |
Kiwicjam | 0:da791f233257 | 12 | const float TaskMoveTo::DEFAULT_VELOCITY = 0.2f; // default velocity value, given in [m/s] |
Kiwicjam | 0:da791f233257 | 13 | const float TaskMoveTo::DEFAULT_ZONE = 0.01f; // default zone value, given in [m] |
Kiwicjam | 0:da791f233257 | 14 | const float TaskMoveTo::PI = 3.14159265f; // the constant PI |
Kiwicjam | 0:da791f233257 | 15 | const float TaskMoveTo::K1 = 2.0f; // position controller gain parameter |
Kiwicjam | 0:da791f233257 | 16 | const float TaskMoveTo::K2 = 0.5f; // position controller gain parameter |
Kiwicjam | 0:da791f233257 | 17 | const float TaskMoveTo::K3 = 0.5f; // position controller gain parameter |
Kiwicjam | 0:da791f233257 | 18 | |
Kiwicjam | 0:da791f233257 | 19 | /** |
Kiwicjam | 0:da791f233257 | 20 | * Creates a task object that moves the robot to a given pose. |
Kiwicjam | 0:da791f233257 | 21 | * @param conroller a reference to the controller object of the robot. |
Kiwicjam | 0:da791f233257 | 22 | * @param x the x coordinate of the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 23 | * @param y the y coordinate of the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 24 | * @param alpha the target orientation, given in [rad]. |
Kiwicjam | 0:da791f233257 | 25 | */ |
Kiwicjam | 0:da791f233257 | 26 | TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha) : controller(controller) { |
Kiwicjam | 0:da791f233257 | 27 | |
Kiwicjam | 0:da791f233257 | 28 | this->x = x; |
Kiwicjam | 0:da791f233257 | 29 | this->y = y; |
Kiwicjam | 0:da791f233257 | 30 | this->alpha = alpha; |
Kiwicjam | 0:da791f233257 | 31 | this->velocity = DEFAULT_VELOCITY; |
Kiwicjam | 0:da791f233257 | 32 | this->zone = DEFAULT_ZONE; |
Kiwicjam | 0:da791f233257 | 33 | } |
Kiwicjam | 0:da791f233257 | 34 | |
Kiwicjam | 0:da791f233257 | 35 | /** |
Kiwicjam | 0:da791f233257 | 36 | * Creates a task object that moves the robot to a given pose. |
Kiwicjam | 0:da791f233257 | 37 | * @param conroller a reference to the controller object of the robot. |
Kiwicjam | 0:da791f233257 | 38 | * @param x the x coordinate of the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 39 | * @param y the y coordinate of the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 40 | * @param alpha the target orientation, given in [rad]. |
Kiwicjam | 0:da791f233257 | 41 | * @param velocity the maximum translational velocity, given in [m/s]. |
Kiwicjam | 0:da791f233257 | 42 | */ |
Kiwicjam | 0:da791f233257 | 43 | TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity) : controller(controller) { |
Kiwicjam | 0:da791f233257 | 44 | |
Kiwicjam | 0:da791f233257 | 45 | this->x = x; |
Kiwicjam | 0:da791f233257 | 46 | this->y = y; |
Kiwicjam | 0:da791f233257 | 47 | this->alpha = alpha; |
Kiwicjam | 0:da791f233257 | 48 | this->velocity = velocity; |
Kiwicjam | 0:da791f233257 | 49 | this->zone = DEFAULT_ZONE; |
Kiwicjam | 0:da791f233257 | 50 | } |
Kiwicjam | 0:da791f233257 | 51 | |
Kiwicjam | 0:da791f233257 | 52 | /** |
Kiwicjam | 0:da791f233257 | 53 | * Creates a task object that moves the robot to a given pose. |
Kiwicjam | 0:da791f233257 | 54 | * @param conroller a reference to the controller object of the robot. |
Kiwicjam | 0:da791f233257 | 55 | * @param x the x coordinate of the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 56 | * @param y the y coordinate of the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 57 | * @param alpha the target orientation, given in [rad]. |
Kiwicjam | 0:da791f233257 | 58 | * @param velocity the maximum translational velocity, given in [m/s]. |
Kiwicjam | 0:da791f233257 | 59 | * @param zone the zone threshold around the target position, given in [m]. |
Kiwicjam | 0:da791f233257 | 60 | */ |
Kiwicjam | 0:da791f233257 | 61 | TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone) : controller(controller) { |
Kiwicjam | 0:da791f233257 | 62 | |
Kiwicjam | 0:da791f233257 | 63 | this->x = x; |
Kiwicjam | 0:da791f233257 | 64 | this->y = y; |
Kiwicjam | 0:da791f233257 | 65 | this->alpha = alpha; |
Kiwicjam | 0:da791f233257 | 66 | this->velocity = velocity; |
Kiwicjam | 0:da791f233257 | 67 | this->zone = zone; |
Kiwicjam | 0:da791f233257 | 68 | } |
Kiwicjam | 0:da791f233257 | 69 | |
Kiwicjam | 0:da791f233257 | 70 | /** |
Kiwicjam | 0:da791f233257 | 71 | * Deletes the task object. |
Kiwicjam | 0:da791f233257 | 72 | */ |
Kiwicjam | 0:da791f233257 | 73 | TaskMoveTo::~TaskMoveTo() {} |
Kiwicjam | 0:da791f233257 | 74 | |
Kiwicjam | 0:da791f233257 | 75 | /** |
Kiwicjam | 0:da791f233257 | 76 | * This method is called periodically by a task sequencer. |
Kiwicjam | 0:da791f233257 | 77 | * @param period the period of the task sequencer, given in [s]. |
Kiwicjam | 0:da791f233257 | 78 | * @return the status of this task, i.e. RUNNING or DONE. |
Kiwicjam | 0:da791f233257 | 79 | */ |
Kiwicjam | 0:da791f233257 | 80 | int TaskMoveTo::run(float period) { |
Kiwicjam | 0:da791f233257 | 81 | |
Kiwicjam | 0:da791f233257 | 82 | float translationalVelocity = 0.0f; |
Kiwicjam | 0:da791f233257 | 83 | float rotationalVelocity = 0.0f; |
Kiwicjam | 0:da791f233257 | 84 | |
Kiwicjam | 0:da791f233257 | 85 | float x = controller.getX(); |
Kiwicjam | 0:da791f233257 | 86 | float y = controller.getY(); |
Kiwicjam | 0:da791f233257 | 87 | float alpha = controller.getAlpha(); |
Kiwicjam | 0:da791f233257 | 88 | |
Kiwicjam | 0:da791f233257 | 89 | float rho = sqrt((this->x-x)*(this->x-x)+(this->y-y)*(this->y-y)); |
Kiwicjam | 0:da791f233257 | 90 | |
Kiwicjam | 0:da791f233257 | 91 | if (rho > 0.001f) { |
Kiwicjam | 0:da791f233257 | 92 | |
Kiwicjam | 0:da791f233257 | 93 | float gamma = atan2(this->y-y, this->x-x)-alpha; |
Kiwicjam | 0:da791f233257 | 94 | |
Kiwicjam | 0:da791f233257 | 95 | while (gamma < -PI) gamma += 2.0f*PI; |
Kiwicjam | 0:da791f233257 | 96 | while (gamma > PI) gamma -= 2.0f*PI; |
Kiwicjam | 0:da791f233257 | 97 | |
Kiwicjam | 0:da791f233257 | 98 | float delta = gamma+alpha-this->alpha; |
Kiwicjam | 0:da791f233257 | 99 | |
Kiwicjam | 0:da791f233257 | 100 | while (delta < -PI) delta += 2.0f*PI; |
Kiwicjam | 0:da791f233257 | 101 | while (delta > PI) delta -= 2.0f*PI; |
Kiwicjam | 0:da791f233257 | 102 | |
Kiwicjam | 0:da791f233257 | 103 | translationalVelocity = K1*rho*cos(gamma); |
Kiwicjam | 0:da791f233257 | 104 | translationalVelocity = (translationalVelocity > velocity) ? velocity : (translationalVelocity < -velocity) ? -velocity : translationalVelocity; |
Kiwicjam | 0:da791f233257 | 105 | rotationalVelocity = (fabs(gamma) > 0.001f) ? K2*gamma+K1*sin(gamma)*cos(gamma)*(gamma+K3*delta)/gamma : 0.0f; |
Kiwicjam | 0:da791f233257 | 106 | } |
Kiwicjam | 0:da791f233257 | 107 | |
Kiwicjam | 0:da791f233257 | 108 | controller.setTranslationalVelocity(translationalVelocity); |
Kiwicjam | 0:da791f233257 | 109 | controller.setRotationalVelocity(rotationalVelocity); |
Kiwicjam | 0:da791f233257 | 110 | |
Kiwicjam | 0:da791f233257 | 111 | return (rho < zone) ? DONE : RUNNING; |
Kiwicjam | 0:da791f233257 | 112 | } |