Allan Brignoli / Mbed 2 deprecated Rome2_P6

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Dependencies:   mbed

TaskMoveToWaypoint.h@0:1a0321f1ffbc, 2018-05-18 (annotated)

Committer:
Brignall
Date:
Fri May 18 12:18:21 2018 +0000
Revision:
0:1a0321f1ffbc
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brignall 0:1a0321f1ffbc 1 /*
Brignall 0:1a0321f1ffbc 2 * TaskMoveToWaypoint.h
Brignall 0:1a0321f1ffbc 3 * Copyright (c) 2018, ZHAW
Brignall 0:1a0321f1ffbc 4 * All rights reserved.
Brignall 0:1a0321f1ffbc 5 */
Brignall 0:1a0321f1ffbc 6
Brignall 0:1a0321f1ffbc 7 #ifndef TASK_MOVE_TO_WAYPOINT_H_
Brignall 0:1a0321f1ffbc 8 #define TASK_MOVE_TO_WAYPOINT_H_
Brignall 0:1a0321f1ffbc 9
Brignall 0:1a0321f1ffbc 10 #include <cstdlib>
Brignall 0:1a0321f1ffbc 11 #include "Controller.h"
Brignall 0:1a0321f1ffbc 12 #include "Task.h"
Brignall 0:1a0321f1ffbc 13
Brignall 0:1a0321f1ffbc 14 /**
Brignall 0:1a0321f1ffbc 15 * This is a specific implementation of a task class that moves the robot to a given waypoint.
Brignall 0:1a0321f1ffbc 16 */
Brignall 0:1a0321f1ffbc 17 class TaskMoveToWaypoint : public Task {
Brignall 0:1a0321f1ffbc 18
Brignall 0:1a0321f1ffbc 19 public:
Brignall 0:1a0321f1ffbc 20
Brignall 0:1a0321f1ffbc 21 static const float DEFAULT_VELOCITY; /**< Default velocity value, given in [m/s]. */
Brignall 0:1a0321f1ffbc 22
Brignall 0:1a0321f1ffbc 23 TaskMoveToWaypoint(Controller& controller, float x, float y);
Brignall 0:1a0321f1ffbc 24 TaskMoveToWaypoint(Controller& controller, float x, float y, float velocity);
Brignall 0:1a0321f1ffbc 25 virtual ~TaskMoveToWaypoint();
Brignall 0:1a0321f1ffbc 26 virtual int run(float period);
Brignall 0:1a0321f1ffbc 27
Brignall 0:1a0321f1ffbc 28 private:
Brignall 0:1a0321f1ffbc 29
Brignall 0:1a0321f1ffbc 30 static const float PI;
Brignall 0:1a0321f1ffbc 31 static const float K;
Brignall 0:1a0321f1ffbc 32
Brignall 0:1a0321f1ffbc 33 Controller& controller; // reference to the controller object to use
Brignall 0:1a0321f1ffbc 34 float x; // x coordinate of target position, given in [m]
Brignall 0:1a0321f1ffbc 35 float y; // y coordinate of target position, given in [m]
Brignall 0:1a0321f1ffbc 36 float velocity; // maximum translational velocity, given in [m/s]
Brignall 0:1a0321f1ffbc 37 float initialDistance; // initial distance to waypoint, given in [m]
Brignall 0:1a0321f1ffbc 38 };
Brignall 0:1a0321f1ffbc 39
Brignall 0:1a0321f1ffbc 40 #endif /* TASK_MOVE_TO_WAYPOINT_H_ */
Brignall 0:1a0321f1ffbc 41