Diff: include/BezierMotionPlanner/beziermotionplanner.hpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/BezierMotionPlanner/beziermotionplanner.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,86 @@
+/**
+  ******************************************************************************
+  * @file    BezierMotionPlanner.hpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-year
+  * @brief   This file contains the class declaration for the Bezier Motion
+  *          Planner methods.
+  ******************************************************************************
+ */
+
+/* include guard */
+#ifndef MOTIONPLANNER_HPP
+#define MOTIONPLANNER_HPP
+
+#include <complex>
+#include <utility>
+#include <math.h>
+#include <BezierCurve/BezierCurve.hpp>
+
+/* Module defines */
+#define WHEELBASE 0.265
+
+namespace planner{
+
+       /** CBezierMotionPlanner class. 
+        * @brief This class implements the functionality of planner to keep the robot on the given Bezier curve.
+        * 
+        */
+        class CBezierMotionPlanner
+        {
+        public:
+                /* Constructor */
+                CBezierMotionPlanner();
+                /* Constructor */
+                CBezierMotionPlanner(bool              isForward,
+                                std::complex<float>     a,
+                                std::complex<float>     b,
+                                std::complex<float>     c,
+                                std::complex<float>     d,
+                                float                   motion_duration_i,
+                                float                   timestep_i);
+                /* Set parameters */
+                void setMotionPlannerParameters(bool                    isForward,
+                                                std::complex<float>     a,
+                                                std::complex<float>     b,
+                                                std::complex<float>     c,
+                                                std::complex<float>     d,
+                                                float                   motion_duration_i,
+                                                float                   timestep_i);
+                /* Destructor */
+                virtual ~CBezierMotionPlanner();
+                /* Get Bezier Curve */
+                math::BezierCurve<float> getBezierCurve();
+        //      Velocity longitudinal and angular
+                /* Get next velocity value */
+                std::pair<float,float> getNextVelocity();
+        //      Velocity longitudinal and angular, Input value [0,1]
+                /* Get velocity value */
+                std::pair<float,float> getVelocity(float input_value);
+                /* Next value valid */
+                bool hasValidValue();
+                /* Is movement forward */
+                bool getForward();
+
+        private:
+                /* forward movement indicator */
+                bool isForward;
+                /* Bezier Curve object */
+                math::BezierCurve<float> bezierCurve;
+                /* motion duration */
+                float motion_duration;
+                /* time step */
+                float time_step;
+                /* Bezier value input step */
+                float bezierValueInput_step;
+                /* next Bezier value */
+                float next_bezierValueInput;
+                /* intialization indicator */
+                bool isInitialized;
+        };
+
+}; // namespace planner
+
+#endif // CMotionPlanner_HPP
+