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Dependencies: mbed
TaskMoveTo Class Reference
This is a specific implementation of a task class that moves the robot to a given pose. More...
#include <TaskMoveTo.h>
Inherits Task.
Public Member Functions | |
| TaskMoveTo (Controller &controller, float x, float y, float alpha) | |
| Creates a task object that moves the robot to a given pose. | |
| TaskMoveTo (Controller &controller, float x, float y, float alpha, float velocity) | |
| Creates a task object that moves the robot to a given pose. | |
| TaskMoveTo (Controller &controller, float x, float y, float alpha, float velocity, float zone) | |
| Creates a task object that moves the robot to a given pose. | |
| virtual | ~TaskMoveTo () |
| Deletes the task object. | |
| virtual int | run (float period) |
| This method is called periodically by a task sequencer. | |
Static Public Attributes | |
| static const float | DEFAULT_VELOCITY = 0.2f |
| Default velocity value, given in [m/s]. | |
| static const float | DEFAULT_ZONE = 0.1f |
| Default zone value, given in [m]. | |
| static const int | FAULT = -1 |
| Task return value. | |
| static const int | RUNNING = 0 |
| Task return value. | |
| static const int | DONE = 1 |
| Task return value. | |
Detailed Description
This is a specific implementation of a task class that moves the robot to a given pose.
Definition at line 17 of file TaskMoveTo.h.
Constructor & Destructor Documentation
| TaskMoveTo | ( | Controller & | controller, |
| float | x, | ||
| float | y, | ||
| float | alpha | ||
| ) |
Creates a task object that moves the robot to a given pose.
- Parameters:
-
conroller a reference to the controller object of the robot. x the x coordinate of the target position, given in [m]. y the y coordinate of the target position, given in [m]. alpha the target orientation, given in [rad].
Definition at line 26 of file TaskMoveTo.cpp.
| TaskMoveTo | ( | Controller & | controller, |
| float | x, | ||
| float | y, | ||
| float | alpha, | ||
| float | velocity | ||
| ) |
Creates a task object that moves the robot to a given pose.
- Parameters:
-
conroller a reference to the controller object of the robot. x the x coordinate of the target position, given in [m]. y the y coordinate of the target position, given in [m]. alpha the target orientation, given in [rad]. velocity the maximum translational velocity, given in [m/s].
Definition at line 44 of file TaskMoveTo.cpp.
| TaskMoveTo | ( | Controller & | controller, |
| float | x, | ||
| float | y, | ||
| float | alpha, | ||
| float | velocity, | ||
| float | zone | ||
| ) |
Creates a task object that moves the robot to a given pose.
- Parameters:
-
conroller a reference to the controller object of the robot. x the x coordinate of the target position, given in [m]. y the y coordinate of the target position, given in [m]. alpha the target orientation, given in [rad]. velocity the maximum translational velocity, given in [m/s]. zone the zone threshold around the target position, given in [m].
Definition at line 63 of file TaskMoveTo.cpp.
| ~TaskMoveTo | ( | ) | [virtual] |
Deletes the task object.
Definition at line 76 of file TaskMoveTo.cpp.
Member Function Documentation
| int run | ( | float | period ) | [virtual] |
This method is called periodically by a task sequencer.
- Parameters:
-
period the period of the task sequencer, given in [s].
- Returns:
- the status of this task, i.e. RUNNING or DONE.
Reimplemented from Task.
Definition at line 83 of file TaskMoveTo.cpp.
Field Documentation
const float DEFAULT_VELOCITY = 0.2f [static] |
Default velocity value, given in [m/s].
Definition at line 21 of file TaskMoveTo.h.
const float DEFAULT_ZONE = 0.1f [static] |
Default zone value, given in [m].
Definition at line 22 of file TaskMoveTo.h.
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