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TaskMoveTo.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?

UserRevisionLine numberNew contents of line
Kiwicjam 0:da791f233257 1 /*
Kiwicjam 0:da791f233257 2 * TaskMoveTo.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_TO_H_
Kiwicjam 0:da791f233257 8 #define TASK_MOVE_TO_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 to a given pose.
Kiwicjam 0:da791f233257 16 */
Kiwicjam 0:da791f233257 17 class TaskMoveTo : public Task {
Kiwicjam 0:da791f233257 18
Kiwicjam 0:da791f233257 19 public:
Kiwicjam 0:da791f233257 20
Kiwicjam 0:da791f233257 21 static const float DEFAULT_VELOCITY; /**< Default velocity value, given in [m/s]. */
Kiwicjam 0:da791f233257 22 static const float DEFAULT_ZONE; /**< Default zone value, given in [m]. */
Kiwicjam 0:da791f233257 23
Kiwicjam 0:da791f233257 24 TaskMoveTo(Controller& controller, float x, float y, float alpha);
Kiwicjam 0:da791f233257 25 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity);
Kiwicjam 0:da791f233257 26 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone);
Kiwicjam 0:da791f233257 27 virtual ~TaskMoveTo();
Kiwicjam 0:da791f233257 28 virtual int run(float period);
Kiwicjam 0:da791f233257 29
Kiwicjam 0:da791f233257 30 private:
Kiwicjam 0:da791f233257 31
Kiwicjam 0:da791f233257 32 static const float PI;
Kiwicjam 0:da791f233257 33 static const float K1;
Kiwicjam 0:da791f233257 34 static const float K2;
Kiwicjam 0:da791f233257 35 static const float K3;
Kiwicjam 0:da791f233257 36
Kiwicjam 0:da791f233257 37 Controller& controller; // reference to the controller object to use
Kiwicjam 0:da791f233257 38 float x; // x coordinate of target position, given in [m]
Kiwicjam 0:da791f233257 39 float y; // y coordinate of target position, given in [m]
Kiwicjam 0:da791f233257 40 float alpha; // target orientation, given in [rad]
Kiwicjam 0:da791f233257 41 float velocity; // maximum translational velocity, given in [m/s]
Kiwicjam 0:da791f233257 42 float zone; // zone threshold around target position, given in [m]
Kiwicjam 0:da791f233257 43 };
Kiwicjam 0:da791f233257 44
Kiwicjam 0:da791f233257 45 #endif /* TASK_MOVE_TO_H_ */