TaskMove.cpp

00001 /*
00002  * TaskMove.cpp
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #include <cmath>
00008 #include "TaskMove.h"
00009 
00010 using namespace std;
00011 
00012 const float TaskMove::DEFAULT_DURATION = 3600.0f;
00013 
00014 /**
00015  * Creates a task object that moves the robot with given velocities.
00016  * @param conroller a reference to the controller object of the robot.
00017  * @param translationalVelocity the translational velocity, given in [m/s].
00018  * @param rotationalVelocity the rotational velocity, given in [rad/s].
00019  */
00020 TaskMove::TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity) : controller(controller) {
00021     
00022     this->translationalVelocity = translationalVelocity;
00023     this->rotationalVelocity = rotationalVelocity;
00024     this->duration = DEFAULT_DURATION;
00025     
00026     time = 0.0f;
00027 }
00028 
00029 /**
00030  * Creates a task object that moves the robot with given velocities.
00031  * @param conroller a reference to the controller object of the robot.
00032  * @param translationalVelocity the translational velocity, given in [m/s].
00033  * @param rotationalVelocity the rotational velocity, given in [rad/s].
00034  * @param duration the duration to move the robot, given in [s].
00035  */
00036 TaskMove::TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity, float duration) : controller(controller) {
00037     
00038     this->translationalVelocity = translationalVelocity;
00039     this->rotationalVelocity = rotationalVelocity;
00040     this->duration = duration;
00041     
00042     time = 0.0f;
00043 }
00044 
00045 /**
00046  * Deletes the task object.
00047  */
00048 TaskMove::~TaskMove() {}
00049 
00050 /**
00051  * This method is called periodically by a task sequencer.
00052  * @param period the period of the task sequencer, given in [s].
00053  * @return the status of this task, i.e. RUNNING or DONE.
00054  */
00055 int TaskMove::run(float period) {
00056     
00057     time += period;
00058     
00059     if (time < duration) {
00060         
00061         controller.setTranslationalVelocity(translationalVelocity);
00062         controller.setRotationalVelocity(rotationalVelocity);
00063         
00064         return RUNNING;
00065         
00066     } else {
00067         
00068         controller.setTranslationalVelocity(0.0f);
00069         controller.setRotationalVelocity(0.0f);
00070         
00071         return DONE;
00072     }
00073 }
00074