Diff: TaskMove.cpp

Revision:

0:351a2fb21235

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskMove.cpp	Fri May 18 12:05:32 2018 +0000
@@ -0,0 +1,74 @@
+/*
+ * TaskMove.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "TaskMove.h"
+
+using namespace std;
+
+const float TaskMove::DEFAULT_DURATION = 3600.0f;
+
+/**
+ * Creates a task object that moves the robot with given velocities.
+ * @param conroller a reference to the controller object of the robot.
+ * @param translationalVelocity the translational velocity, given in [m/s].
+ * @param rotationalVelocity the rotational velocity, given in [rad/s].
+ */
+TaskMove::TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity) : controller(controller) {
+    
+    this->translationalVelocity = translationalVelocity;
+    this->rotationalVelocity = rotationalVelocity;
+    this->duration = DEFAULT_DURATION;
+    
+    time = 0.0f;
+}
+
+/**
+ * Creates a task object that moves the robot with given velocities.
+ * @param conroller a reference to the controller object of the robot.
+ * @param translationalVelocity the translational velocity, given in [m/s].
+ * @param rotationalVelocity the rotational velocity, given in [rad/s].
+ * @param duration the duration to move the robot, given in [s].
+ */
+TaskMove::TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity, float duration) : controller(controller) {
+    
+    this->translationalVelocity = translationalVelocity;
+    this->rotationalVelocity = rotationalVelocity;
+    this->duration = duration;
+    
+    time = 0.0f;
+}
+
+/**
+ * Deletes the task object.
+ */
+TaskMove::~TaskMove() {}
+
+/**
+ * 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 TaskMove::run(float period) {
+    
+    time += period;
+    
+    if (time < duration) {
+        
+        controller.setTranslationalVelocity(translationalVelocity);
+        controller.setRotationalVelocity(rotationalVelocity);
+        
+        return RUNNING;
+        
+    } else {
+        
+        controller.setTranslationalVelocity(0.0f);
+        controller.setRotationalVelocity(0.0f);
+        
+        return DONE;
+    }
+}
+