Diff: MiniExplorerCoimbra.hpp

Revision:

36:b59d56d0b3b4

Parent:

35:68f9edbb3cff

Child:

37:b4c45e43ad29

--- a/MiniExplorerCoimbra.hpp	Sun Jun 11 22:40:37 2017 +0000
+++ b/MiniExplorerCoimbra.hpp	Sun Jun 11 22:53:59 2017 +0000
@@ -45,10 +45,6 @@
 	float repulsionConstantForce;
 
 	MiniExplorerCoimbra(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
-
-	void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
-	
-	void myOdometria();
 	
 	//generate a position randomly and makes the robot go there while updating the map
 	void randomize_and_map();
@@ -56,13 +52,22 @@
 	//move of targetXWorld and targetYWorld ending in a targetAngleWorld
 	void go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld);
 	
-	void update_sonar_values(float leftMm,float frontMm,float rightMm);
-	
-	//Distance computation function
-	float dist(float x1, float y1, float x2, float y2);
-	
 	//use virtual force field
 	void try_to_reach_target(float targetXWorld,float targetYWorld);
+
+	void print_final_map_with_robot_position();
+	
+	void print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld);
+	
+	void print_final_map();
+	
+	private:
+	
+	void setXYThetaAndXYThetaWorld(float defaultXWorld, float defaultYWorld, float defaultThetaWorld);
+	
+	void myOdometria();
+	
+	void update_sonar_values(float leftMm,float frontMm,float rightMm);
 	
 	void vff(bool* reached, float targetXWorld, float targetYWorld);
 	
@@ -76,7 +81,6 @@
 	//currently line_c is not used
 	void go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld);
 	
-	
 	float update_angular_speed_wheels_go_to_point_with_angle(float targetXWorld, float targetYWorld, float targetAngleWorld, float dt);
 	
 	/*angleToTarget is obtained through atan2 so it s:
@@ -87,11 +91,8 @@
 	
 	void do_half_flip();
 	
-	void print_final_map_with_robot_position();
-	
-	void print_final_map_with_robot_position_and_target(float targetXWorld, float targetYWorld);
-	
-	void print_final_map();
+	//Distance computation function
+	float dist(float x1, float y1, float x2, float y2);
 	
 	//return 1 if positiv, -1 if negativ
 	float sign1(float value);