TeamSurface / Praktikum_3

Mit TaskWait ;-)

TaskMoveTo.h@0:92d57d5d9305, 2018-03-23 (annotated)

Committer:
wannesim
Date:
Fri Mar 23 15:44:15 2018 +0000
Revision:
0:92d57d5d9305
Mit TaskWait     ;-)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wannesim 0:92d57d5d9305 1 /*
wannesim 0:92d57d5d9305 2 * TaskMoveTo.h
wannesim 0:92d57d5d9305 3 * Copyright (c) 2018, ZHAW
wannesim 0:92d57d5d9305 4 * All rights reserved.
wannesim 0:92d57d5d9305 5 */
wannesim 0:92d57d5d9305 6
wannesim 0:92d57d5d9305 7 #ifndef TASK_MOVE_TO_H_
wannesim 0:92d57d5d9305 8 #define TASK_MOVE_TO_H_
wannesim 0:92d57d5d9305 9
wannesim 0:92d57d5d9305 10 #include <cstdlib>
wannesim 0:92d57d5d9305 11 #include "Controller.h"
wannesim 0:92d57d5d9305 12 #include "Task.h"
wannesim 0:92d57d5d9305 13
wannesim 0:92d57d5d9305 14 /**
wannesim 0:92d57d5d9305 15 * This is a specific implementation of a task class that moves the robot to a given pose.
wannesim 0:92d57d5d9305 16 */
wannesim 0:92d57d5d9305 17 class TaskMoveTo : public Task {
wannesim 0:92d57d5d9305 18
wannesim 0:92d57d5d9305 19 public:
wannesim 0:92d57d5d9305 20
wannesim 0:92d57d5d9305 21 static const float DEFAULT_VELOCITY; /**< Default velocity value, given in [m/s]. */
wannesim 0:92d57d5d9305 22 static const float DEFAULT_ZONE; /**< Default zone value, given in [m]. */
wannesim 0:92d57d5d9305 23
wannesim 0:92d57d5d9305 24 TaskMoveTo(Controller& controller, float x, float y, float alpha);
wannesim 0:92d57d5d9305 25 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity);
wannesim 0:92d57d5d9305 26 TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone);
wannesim 0:92d57d5d9305 27 virtual ~TaskMoveTo();
wannesim 0:92d57d5d9305 28 virtual int run(float period);
wannesim 0:92d57d5d9305 29
wannesim 0:92d57d5d9305 30 private:
wannesim 0:92d57d5d9305 31
wannesim 0:92d57d5d9305 32 static const float PI;
wannesim 0:92d57d5d9305 33 static const float K1;
wannesim 0:92d57d5d9305 34 static const float K2;
wannesim 0:92d57d5d9305 35 static const float K3;
wannesim 0:92d57d5d9305 36
wannesim 0:92d57d5d9305 37 Controller& controller; // reference to the controller object to use
wannesim 0:92d57d5d9305 38 float x; // x coordinate of target position, given in [m]
wannesim 0:92d57d5d9305 39 float y; // y coordinate of target position, given in [m]
wannesim 0:92d57d5d9305 40 float alpha; // target orientation, given in [rad]
wannesim 0:92d57d5d9305 41 float velocity; // maximum translational velocity, given in [m/s]
wannesim 0:92d57d5d9305 42 float zone; // zone threshold around target position, given in [m]
wannesim 0:92d57d5d9305 43 };
wannesim 0:92d57d5d9305 44
wannesim 0:92d57d5d9305 45 #endif /* TASK_MOVE_TO_H_ */