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TaskMoveToWaypoint Class Reference
This is a specific implementation of a task class that moves the robot to a given waypoint. More...
#include <TaskMoveToWaypoint.h>
Inherits Task.
Public Member Functions | |
| TaskMoveToWaypoint (Controller &controller, float x, float y) | |
| Creates a task object that moves the robot to a given waypoint. | |
| TaskMoveToWaypoint (Controller &controller, float x, float y, float velocity) | |
| Creates a task object that moves the robot to a given waypoint. | |
| virtual | ~TaskMoveToWaypoint () |
| Deletes the task object. | |
| virtual int | run (float period) |
| This method is called periodically by a task sequencer. | |
Static Public Attributes | |
| static const float | DEFAULT_VELOCITY = 0.2f |
| Default velocity value, given in [m/s]. | |
| static const int | FAULT = -1 |
| Task return value. | |
| static const int | RUNNING = 0 |
| Task return value. | |
| static const int | DONE = 1 |
| Task return value. | |
Detailed Description
This is a specific implementation of a task class that moves the robot to a given waypoint.
Definition at line 17 of file TaskMoveToWaypoint.h.
Constructor & Destructor Documentation
| TaskMoveToWaypoint | ( | Controller & | controller, |
| float | x, | ||
| float | y | ||
| ) |
Creates a task object that moves the robot to a given waypoint.
- Parameters:
-
conroller a reference to the controller object of the robot. x the x coordinate of the waypoint position, given in [m]. y the y coordinate of the waypoint position, given in [m].
Definition at line 22 of file TaskMoveToWaypoint.cpp.
| TaskMoveToWaypoint | ( | Controller & | controller, |
| float | x, | ||
| float | y, | ||
| float | velocity | ||
| ) |
Creates a task object that moves the robot to a given waypoint.
- Parameters:
-
conroller a reference to the controller object of the robot. x the x coordinate of the target position, given in [m]. y the y coordinate of the target position, given in [m]. velocity the maximum translational velocity, given in [m/s].
Definition at line 37 of file TaskMoveToWaypoint.cpp.
| ~TaskMoveToWaypoint | ( | ) | [virtual] |
Deletes the task object.
Definition at line 48 of file TaskMoveToWaypoint.cpp.
Member Function Documentation
| int run | ( | float | period ) | [virtual] |
This method is called periodically by a task sequencer.
- Parameters:
-
period the period of the task sequencer, given in [s].
- Returns:
- the status of this task, i.e. RUNNING or DONE.
Reimplemented from Task.
Definition at line 55 of file TaskMoveToWaypoint.cpp.
Field Documentation
const float DEFAULT_VELOCITY = 0.2f [static] |
Default velocity value, given in [m/s].
Definition at line 21 of file TaskMoveToWaypoint.h.
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