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Diff: TaskMoveTo.h
- Revision:
- 0:da791f233257
diff -r 000000000000 -r da791f233257 TaskMoveTo.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TaskMoveTo.h Fri May 11 12:21:19 2018 +0000 @@ -0,0 +1,45 @@ +/* + * TaskMoveTo.h + * Copyright (c) 2018, ZHAW + * All rights reserved. + */ + +#ifndef TASK_MOVE_TO_H_ +#define TASK_MOVE_TO_H_ + +#include <cstdlib> +#include "Controller.h" +#include "Task.h" + +/** + * This is a specific implementation of a task class that moves the robot to a given pose. + */ +class TaskMoveTo : public Task { + + public: + + static const float DEFAULT_VELOCITY; /**< Default velocity value, given in [m/s]. */ + static const float DEFAULT_ZONE; /**< Default zone value, given in [m]. */ + + TaskMoveTo(Controller& controller, float x, float y, float alpha); + TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity); + TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone); + virtual ~TaskMoveTo(); + virtual int run(float period); + + private: + + static const float PI; + static const float K1; + static const float K2; + static const float K3; + + Controller& controller; // reference to the controller object to use + float x; // x coordinate of target position, given in [m] + float y; // y coordinate of target position, given in [m] + float alpha; // target orientation, given in [rad] + float velocity; // maximum translational velocity, given in [m/s] + float zone; // zone threshold around target position, given in [m] +}; + +#endif /* TASK_MOVE_TO_H_ */