Diff: TrackVector2D.h

Revision:

0:958e1e10e536

diff -r 000000000000 -r 958e1e10e536 TrackVector2D.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TrackVector2D.h	Sat Dec 03 17:50:55 2011 +0000
@@ -0,0 +1,156 @@
+/**
+ * @file   TrackVector2D.h
+ * @author Ernesto Palacios
+ *
+ * @brief
+ * Develop Under  GPL v3.0 License
+ * http://www.gnu.org/licenses/gpl-3.0.html .
+ *
+ * Created on 22 de octubre de 2011, 11:26 PM
+ */
+
+#ifndef TRACKVECTOR2D_H
+#define TRACKVECTOR2D_H
+
+#include "mbed.h"
+#include "Matrix.h"
+#include "MatrixMath.h"
+
+#include <complex>
+
+/**@brief
+ * This class keeps track of a "vector" on a 2D plane.
+ * Vector is defined as any point on an XY plane, with a determine direction.
+ * Could be a mobile robot for instance. Distance is unit-less depends on the use.
+ * Angles are internally measured in radiands but the API uses degrees.
+ *
+ * Static Functions are provided for Angle and Coordenates transformations.
+ */
+class TrackVector2D {
+
+public:
+
+    /**@brief default Constructor.
+     * Initializes Matrices to default Values
+     */
+    TrackVector2D();
+
+
+    /**@brief Copies all elements.
+     * @param orig Original "Vector"
+     */
+    TrackVector2D(const TrackVector2D& orig);
+
+
+    /**@brief
+     * Move the "vector" to position x, y in the plane.
+     * Calculates the angle the vector should rotate, and the distance
+     * it should travel. Distance depeneds on metric units of coordenates.
+     * @param x  Coordenate in "X" axis.
+     * @param y  Coordenate in "Y" axis.
+     * @return   1x2 Matrix, [1][1] Distance to travel -no units.
+     *                       [1][2] Rotation Angle in degrees
+     */
+    const Matrix moveto( float x, float y );
+
+
+    /**@brief
+     * Changes the direction of the "vector" to point to a new direction.
+     * Keeps track of ratation. Doesn't return anything because does not travels
+     * any distance, and rotation is already known.
+     * @param degrees Angle in degrees to Rotate
+     */
+    void rotate( float degrees );
+
+
+    /**@brief Returns 3x3 Matrix Rotation
+     *
+     * @return 3x3 Matrix Rotation only
+     */
+    const Matrix GetRotM();
+
+
+    /**@brief Retirns 4x4 Full Transformation Matrix
+     *
+     * @return 4x4 Full Transfrmation Matrix.
+     */
+    const Matrix GetTrasfM();
+
+
+    /**@brief Returns 1x2 Matrix last [ X ][ Y ] coordenates
+     * @return 1x2 with last only Cordenates.
+     */
+    const Matrix GetLastMove();
+
+
+    /**@brief Retruns nx2 Matrix with all n-Moves.
+     * @return Large nx2 Matrix with all moves done by "vector"
+     */
+    const Matrix GetMove( int index );
+
+    /**@brief Cuerrent X position of Robot
+     * @return X position in Coordenate Sistem.
+     */
+    float getX();
+
+
+    /**@brief Current Y position of Robot
+     * @return Y position in Coordenate Sistem
+     */
+    float getY();
+
+
+    /**@brief Current direction with respect to "X" axis.
+     * @return Angle in radians
+     */
+    float getRad();
+
+
+    /**@brief Current direction with respect to "X" axis.
+     * @return Angle in Degrees
+     */
+    float getDeg();
+
+
+    /**@brief Transform from RADIANS to DEGREES.
+     * @param angle in radians
+     * @return angle in degrees
+     */
+    static float rad2deg( float angle );
+
+
+    /**@brief Transform from DEGREES to RADIANS.
+     * @param angle in degrees
+     * @return angle in radians
+     */
+    static float deg2rad( float angle );
+
+
+    /**@brief Transforms from Rectangular to Polar coordenates.
+     * @param 1x2 Matrix [x][y]
+     * @return 1x2 Matrix [Magnitude][Direction]  in Degrees!
+     */
+    static const Matrix Rect2Polar( const Matrix& Coord );
+
+
+    /**@brief Transforms from Polar to Rectangular coordenates.
+     * @param 1x2 Matrix [Magnitude][Direction] in Degrees!
+     * @return 1x2 Matrix [x][y]
+     */
+    static const Matrix Polar2Rect( const Matrix& Coord );
+
+
+private:
+
+    Matrix _TrnsfM;
+    Matrix _InvM;
+    Matrix _RotM;
+    vector< complex<float> > _Moves; 
+
+    int   _nMoves;
+    float _angRad;
+    float _angDeg;
+    float _distance;
+};
+
+#endif  /* TRACKVECTOR2D_H */