Diff: TaskMoveTo.cpp

Revision:

0:1a79273bc3e6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskMoveTo.cpp	Mon Apr 09 07:00:45 2018 +0000
@@ -0,0 +1,113 @@
+/*
+ * TaskMoveTo.cpp
+ * Copyright (c) 2017, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "TaskMoveTo.h"
+
+using namespace std;
+
+const float TaskMoveTo::DEFAULT_VELOCITY = 0.2f;    // default velocity value, given in [m/s]
+const float TaskMoveTo::DEFAULT_ZONE = 0.01f;       // default zone value, given in [m]
+const float TaskMoveTo::PI = 3.14159265f;           // the constant PI
+const float TaskMoveTo::K1 = 2.0f;                  // position controller gain parameter
+const float TaskMoveTo::K2 = 0.5f;                  // position controller gain parameter
+const float TaskMoveTo::K3 = 0.5f;                  // position controller gain parameter
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = DEFAULT_VELOCITY;
+    this->zone = DEFAULT_ZONE;
+}
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ * @param velocity the maximum translational velocity, given in [m/s].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = velocity;
+    this->zone = DEFAULT_ZONE;
+}
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ * @param velocity the maximum translational velocity, given in [m/s].
+ * @param zone the zone threshold around the target position, given in [m].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = velocity;
+    this->zone = zone;
+}
+
+/**
+ * Deletes the task object.
+ */
+TaskMoveTo::~TaskMoveTo() {}
+
+/**
+ * This method is called periodically by a task sequencer.
+ * @param period the period of the task sequencer, given in [s].
+ * @return the status of this task, i.e. RUNNING or DONE.
+ */
+int TaskMoveTo::run(float period) {
+    
+    float translationalVelocity = 0.0f;
+    float rotationalVelocity = 0.0f;
+    
+    float x = controller.getX();
+    float y = controller.getY();
+    float alpha = controller.getAlpha();
+    
+    float rho = sqrt((this->x-x)*(this->x-x)+(this->y-y)*(this->y-y));
+    
+    if (rho > 0.001f) {
+        
+        float gamma = atan2(this->y-y, this->x-x)-alpha;
+        
+        while (gamma < -PI) gamma += 2.0f*PI;
+        while (gamma > PI) gamma -= 2.0f*PI;
+        
+        float delta = gamma+alpha-this->alpha;
+        
+        while (delta < -PI) delta += 2.0f*PI;
+        while (delta > PI) delta -= 2.0f*PI;
+        
+        translationalVelocity = K1*rho*cos(gamma);
+        translationalVelocity = (translationalVelocity > velocity) ? velocity : (translationalVelocity < -velocity) ? -velocity : translationalVelocity;
+        rotationalVelocity = (fabs(gamma) > 0.001f) ? K2*gamma+K1*sin(gamma)*cos(gamma)*(gamma+K3*delta)/gamma : 0.0f;
+    }
+    
+    controller.setTranslationalVelocity(translationalVelocity);
+    controller.setRotationalVelocity(rotationalVelocity);
+    
+    return (rho < zone) ? DONE : RUNNING;
+}
+