TaskMoveTo.h

00001 /*
00002  * TaskMoveTo.h
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef TASK_MOVE_TO_H_
00008 #define TASK_MOVE_TO_H_
00009 
00010 #include <cstdlib>
00011 #include "Controller.h"
00012 #include "Task.h"
00013 
00014 /**
00015  * This is a specific implementation of a task class that moves the robot to a given pose.
00016  */
00017 class TaskMoveTo : public Task {
00018     
00019     public:
00020         
00021         static const float  DEFAULT_VELOCITY;   /**< Default velocity value, given in [m/s]. */
00022         static const float  DEFAULT_ZONE;       /**< Default zone value, given in [m]. */
00023         
00024                     TaskMoveTo(Controller& controller, float x, float y, float alpha);
00025                     TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity);
00026                     TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone);
00027         virtual     ~TaskMoveTo();
00028         virtual int run(float period);
00029         
00030     private:
00031         
00032         static const float  PI;
00033         static const float  K1;
00034         static const float  K2;
00035         static const float  K3;
00036         
00037         Controller& controller; // reference to the controller object to use
00038         float       x;          // x coordinate of target position, given in [m]
00039         float       y;          // y coordinate of target position, given in [m]
00040         float       alpha;      // target orientation, given in [rad]
00041         float       velocity;   // maximum translational velocity, given in [m/s]
00042         float       zone;       // zone threshold around target position, given in [m]
00043 };
00044 
00045 #endif /* TASK_MOVE_TO_H_ */
00046