Diff: TaskMoveToWaypoint.h

Revision:

0:1a0321f1ffbc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskMoveToWaypoint.h	Fri May 18 12:18:21 2018 +0000
@@ -0,0 +1,41 @@
+/*
+ * TaskMoveToWaypoint.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef TASK_MOVE_TO_WAYPOINT_H_
+#define TASK_MOVE_TO_WAYPOINT_H_
+
+#include <cstdlib>
+#include "Controller.h"
+#include "Task.h"
+
+/**
+ * This is a specific implementation of a task class that moves the robot to a given waypoint.
+ */
+class TaskMoveToWaypoint : public Task {
+    
+    public:
+        
+        static const float  DEFAULT_VELOCITY;   /**< Default velocity value, given in [m/s]. */
+        
+                    TaskMoveToWaypoint(Controller& controller, float x, float y);
+                    TaskMoveToWaypoint(Controller& controller, float x, float y, float velocity);
+        virtual     ~TaskMoveToWaypoint();
+        virtual int run(float period);
+        
+    private:
+        
+        static const float  PI;
+        static const float  K;
+        
+        Controller& controller;         // reference to the controller object to use
+        float       x;                  // x coordinate of target position, given in [m]
+        float       y;                  // y coordinate of target position, given in [m]
+        float       velocity;           // maximum translational velocity, given in [m/s]
+        float       initialDistance;    // initial distance to waypoint, given in [m]
+};
+
+#endif /* TASK_MOVE_TO_WAYPOINT_H_ */
+