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Diff: TaskMove.h
- Revision:
- 0:da791f233257
diff -r 000000000000 -r da791f233257 TaskMove.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TaskMove.h Fri May 11 12:21:19 2018 +0000 @@ -0,0 +1,37 @@ +/* + * TaskMove.h + * Copyright (c) 2018, ZHAW + * All rights reserved. + */ + +#ifndef TASK_MOVE_H_ +#define TASK_MOVE_H_ + +#include <cstdlib> +#include "Controller.h" +#include "Task.h" + +/** + * This is a specific implementation of a task class that moves the robot with given velocities. + */ +class TaskMove : public Task { + + public: + + static const float DEFAULT_DURATION; /**< Default duration, given in [s]. */ + + TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity); + TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity, float duration); + virtual ~TaskMove(); + virtual int run(float period); + + private: + + Controller& controller; // reference to controller object to use + float translationalVelocity; // translational velocity, given in [m/s] + float rotationalVelocity; // rotational velocity, given in [rad/s] + float duration; // duration to move the robot, given in [s] + float time; // current time, given in [s] +}; + +#endif /* TASK_MOVE_H_ */