This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
RobotControl/MotionState.h@0:31f7be68e52d, 2013-02-07 (annotated)
- Committer:
- chrigelburri
- Date:
- Thu Feb 07 17:43:19 2013 +0000
- Revision:
- 0:31f7be68e52d
- Child:
- 1:6cd533a712c6
first steps
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 0:31f7be68e52d | 1 | #ifndef _MOTION_STATE_H_ |
chrigelburri | 0:31f7be68e52d | 2 | #define _MOTION_STATE_H_ |
chrigelburri | 0:31f7be68e52d | 3 | |
chrigelburri | 0:31f7be68e52d | 4 | #include <cmath> |
chrigelburri | 0:31f7be68e52d | 5 | #include "defines.h" |
chrigelburri | 0:31f7be68e52d | 6 | |
chrigelburri | 0:31f7be68e52d | 7 | /** |
chrigelburri | 0:31f7be68e52d | 8 | * @author Christian Burri |
chrigelburri | 0:31f7be68e52d | 9 | * |
chrigelburri | 0:31f7be68e52d | 10 | * @section LICENSE |
chrigelburri | 0:31f7be68e52d | 11 | * |
chrigelburri | 0:31f7be68e52d | 12 | * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 0:31f7be68e52d | 13 | * All rights reserved. |
chrigelburri | 0:31f7be68e52d | 14 | * |
chrigelburri | 0:31f7be68e52d | 15 | * @section DESCRIPTION |
chrigelburri | 0:31f7be68e52d | 16 | * |
chrigelburri | 0:31f7be68e52d | 17 | * ????? |
chrigelburri | 0:31f7be68e52d | 18 | * |
chrigelburri | 0:31f7be68e52d | 19 | */ |
chrigelburri | 0:31f7be68e52d | 20 | class MotionState |
chrigelburri | 0:31f7be68e52d | 21 | { |
chrigelburri | 0:31f7be68e52d | 22 | |
chrigelburri | 0:31f7be68e52d | 23 | private: |
chrigelburri | 0:31f7be68e52d | 24 | |
chrigelburri | 0:31f7be68e52d | 25 | float acceleration; |
chrigelburri | 0:31f7be68e52d | 26 | float thetaAcceleration; |
chrigelburri | 0:31f7be68e52d | 27 | |
chrigelburri | 0:31f7be68e52d | 28 | public: |
chrigelburri | 0:31f7be68e52d | 29 | |
chrigelburri | 0:31f7be68e52d | 30 | /** The xposition value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 31 | float xposition; |
chrigelburri | 0:31f7be68e52d | 32 | /** The yposition value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 33 | float yposition; |
chrigelburri | 0:31f7be68e52d | 34 | /** The angle of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 35 | float theta; |
chrigelburri | 0:31f7be68e52d | 36 | /** The angle of this motion state from the compass. */ |
chrigelburri | 0:31f7be68e52d | 37 | float thetaCompass; |
chrigelburri | 0:31f7be68e52d | 38 | /** The speed value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 39 | float speed; |
chrigelburri | 0:31f7be68e52d | 40 | /** The speed rotational value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 41 | float omega; |
chrigelburri | 0:31f7be68e52d | 42 | |
chrigelburri | 0:31f7be68e52d | 43 | /** |
chrigelburri | 0:31f7be68e52d | 44 | * Creates a <code>MotionState</code> object. |
chrigelburri | 0:31f7be68e52d | 45 | * The values for position and speed are set to 0. |
chrigelburri | 0:31f7be68e52d | 46 | */ |
chrigelburri | 0:31f7be68e52d | 47 | MotionState(); |
chrigelburri | 0:31f7be68e52d | 48 | |
chrigelburri | 0:31f7be68e52d | 49 | /** |
chrigelburri | 0:31f7be68e52d | 50 | * Creates a <code>MotionState</code> object with given values for position and speed. |
chrigelburri | 0:31f7be68e52d | 51 | * @param xposition the initial position value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 52 | * @param yposition the initial position value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 53 | * @param theta the initial angle value of this motion state, given in [rad]. |
chrigelburri | 0:31f7be68e52d | 54 | * @param speed the initial speed value of this motion state, given in [m/s]. |
chrigelburri | 0:31f7be68e52d | 55 | * @param omega the initial omega speed value of this motion state, given in [rad/s]. |
chrigelburri | 0:31f7be68e52d | 56 | */ |
chrigelburri | 0:31f7be68e52d | 57 | MotionState(float xposition, float yposition, float theta, float speed, float omega); |
chrigelburri | 0:31f7be68e52d | 58 | |
chrigelburri | 0:31f7be68e52d | 59 | /** |
chrigelburri | 0:31f7be68e52d | 60 | * Destructor of the Object to destroy the Object. |
chrigelburri | 0:31f7be68e52d | 61 | **/ |
chrigelburri | 0:31f7be68e52d | 62 | virtual ~MotionState(); |
chrigelburri | 0:31f7be68e52d | 63 | |
chrigelburri | 0:31f7be68e52d | 64 | /** |
chrigelburri | 0:31f7be68e52d | 65 | * Sets the values for xPosition, yPostion and angle. |
chrigelburri | 0:31f7be68e52d | 66 | * @param xposition the initial position value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 67 | * @param yposition the initial position value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 68 | * @param theta the initial angle value of this motion state, given in [rad]. |
chrigelburri | 0:31f7be68e52d | 69 | * @param speed the initial speed value of this motion state, given in [m/s]. |
chrigelburri | 0:31f7be68e52d | 70 | * @param omega the initial omega speed value of this motion state, given in [rad/s]. |
chrigelburri | 0:31f7be68e52d | 71 | */ |
chrigelburri | 0:31f7be68e52d | 72 | void setState(float xposition, float yposition, float theta, float speed, float omega); |
chrigelburri | 0:31f7be68e52d | 73 | |
chrigelburri | 0:31f7be68e52d | 74 | /** |
chrigelburri | 0:31f7be68e52d | 75 | * Sets the values for xPosition, yPostion and angle. |
chrigelburri | 0:31f7be68e52d | 76 | * @param motionState another <code>MotionState</code> object to copy the state values from. |
chrigelburri | 0:31f7be68e52d | 77 | */ |
chrigelburri | 0:31f7be68e52d | 78 | void setState(MotionState* motionState); |
chrigelburri | 0:31f7be68e52d | 79 | |
chrigelburri | 0:31f7be68e52d | 80 | /** |
chrigelburri | 0:31f7be68e52d | 81 | * Sets the X-position value. |
chrigelburri | 0:31f7be68e52d | 82 | * @param the desired xposition value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 83 | */ |
chrigelburri | 0:31f7be68e52d | 84 | void setxPosition(float position); |
chrigelburri | 0:31f7be68e52d | 85 | |
chrigelburri | 0:31f7be68e52d | 86 | /** |
chrigelburri | 0:31f7be68e52d | 87 | * Gets the X-position value. |
chrigelburri | 0:31f7be68e52d | 88 | * @return the xposition value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 89 | */ |
chrigelburri | 0:31f7be68e52d | 90 | float getxPosition(); |
chrigelburri | 0:31f7be68e52d | 91 | |
chrigelburri | 0:31f7be68e52d | 92 | /** |
chrigelburri | 0:31f7be68e52d | 93 | * Sets the Y-position value. |
chrigelburri | 0:31f7be68e52d | 94 | * @param the desired yposition value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 95 | */ |
chrigelburri | 0:31f7be68e52d | 96 | void setyPosition(float yposition); |
chrigelburri | 0:31f7be68e52d | 97 | |
chrigelburri | 0:31f7be68e52d | 98 | /** |
chrigelburri | 0:31f7be68e52d | 99 | * Gets the Y-position value. |
chrigelburri | 0:31f7be68e52d | 100 | * @return the xposition value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 101 | */ |
chrigelburri | 0:31f7be68e52d | 102 | float getyPosition(); |
chrigelburri | 0:31f7be68e52d | 103 | |
chrigelburri | 0:31f7be68e52d | 104 | /** |
chrigelburri | 0:31f7be68e52d | 105 | * Sets the theta value. |
chrigelburri | 0:31f7be68e52d | 106 | * @param the desired theta value of this motion state, given in [m]. |
chrigelburri | 0:31f7be68e52d | 107 | */ |
chrigelburri | 0:31f7be68e52d | 108 | void setTheta(float theta); |
chrigelburri | 0:31f7be68e52d | 109 | |
chrigelburri | 0:31f7be68e52d | 110 | /** |
chrigelburri | 0:31f7be68e52d | 111 | * Gets the angle value. |
chrigelburri | 0:31f7be68e52d | 112 | * @return the theta value of this motion state, given in [rad]. |
chrigelburri | 0:31f7be68e52d | 113 | */ |
chrigelburri | 0:31f7be68e52d | 114 | float getTheta(); |
chrigelburri | 0:31f7be68e52d | 115 | |
chrigelburri | 0:31f7be68e52d | 116 | /** |
chrigelburri | 0:31f7be68e52d | 117 | * Sets the speed value. |
chrigelburri | 0:31f7be68e52d | 118 | * @param speed the desired speed value of this motion state, given in [m/s]. |
chrigelburri | 0:31f7be68e52d | 119 | */ |
chrigelburri | 0:31f7be68e52d | 120 | void setSpeed(float speed); |
chrigelburri | 0:31f7be68e52d | 121 | |
chrigelburri | 0:31f7be68e52d | 122 | /** |
chrigelburri | 0:31f7be68e52d | 123 | * Gets the speed value. |
chrigelburri | 0:31f7be68e52d | 124 | * @return the speed value of this motion state, given in [m/s]. |
chrigelburri | 0:31f7be68e52d | 125 | */ |
chrigelburri | 0:31f7be68e52d | 126 | float getSpeed(); |
chrigelburri | 0:31f7be68e52d | 127 | |
chrigelburri | 0:31f7be68e52d | 128 | /** |
chrigelburri | 0:31f7be68e52d | 129 | * Sets the omega value. |
chrigelburri | 0:31f7be68e52d | 130 | * @param omega the desired omega value of this motion state, given in [rad/s]. |
chrigelburri | 0:31f7be68e52d | 131 | */ |
chrigelburri | 0:31f7be68e52d | 132 | void setOmega(float omega); |
chrigelburri | 0:31f7be68e52d | 133 | |
chrigelburri | 0:31f7be68e52d | 134 | /** |
chrigelburri | 0:31f7be68e52d | 135 | * Gets the omega value. |
chrigelburri | 0:31f7be68e52d | 136 | * @return the omega value of this motion state, given in [rad/s]. |
chrigelburri | 0:31f7be68e52d | 137 | */ |
chrigelburri | 0:31f7be68e52d | 138 | float getOmega(); |
chrigelburri | 0:31f7be68e52d | 139 | |
chrigelburri | 0:31f7be68e52d | 140 | /** |
chrigelburri | 0:31f7be68e52d | 141 | * Sets the maximum acceleration value. |
chrigelburri | 0:31f7be68e52d | 142 | * @param acceleration the maximum acceleration value to use for the calculation |
chrigelburri | 0:31f7be68e52d | 143 | * of the motion trajectory, given in [m/s²]. |
chrigelburri | 0:31f7be68e52d | 144 | */ |
chrigelburri | 0:31f7be68e52d | 145 | void setAcceleration(float acceleration); |
chrigelburri | 0:31f7be68e52d | 146 | |
chrigelburri | 0:31f7be68e52d | 147 | /** |
chrigelburri | 0:31f7be68e52d | 148 | * Gets the maximum acceleration value. |
chrigelburri | 0:31f7be68e52d | 149 | * @return the maximum acceleration value used for the calculation |
chrigelburri | 0:31f7be68e52d | 150 | * of the motion trajectory, given in [m/s²]. |
chrigelburri | 0:31f7be68e52d | 151 | */ |
chrigelburri | 0:31f7be68e52d | 152 | float getAcceleration(); |
chrigelburri | 0:31f7be68e52d | 153 | |
chrigelburri | 0:31f7be68e52d | 154 | /** |
chrigelburri | 0:31f7be68e52d | 155 | * Sets the maximum acceleration value of rotation. |
chrigelburri | 0:31f7be68e52d | 156 | * @param acceleration the maximum acceleration value to use for the calculation |
chrigelburri | 0:31f7be68e52d | 157 | * of the motion trajectory, given in [rad/s²]. |
chrigelburri | 0:31f7be68e52d | 158 | */ |
chrigelburri | 0:31f7be68e52d | 159 | void setThetaAcceleration(float thetaAcceleration); |
chrigelburri | 0:31f7be68e52d | 160 | |
chrigelburri | 0:31f7be68e52d | 161 | /** |
chrigelburri | 0:31f7be68e52d | 162 | * Gets the maximum acceleration value of rotation. |
chrigelburri | 0:31f7be68e52d | 163 | * @return the maximum acceleration value used for the calculation |
chrigelburri | 0:31f7be68e52d | 164 | * of the motion trajectory, given in [rad/s²]. |
chrigelburri | 0:31f7be68e52d | 165 | */ |
chrigelburri | 0:31f7be68e52d | 166 | float getThetaAcceleration(); |
chrigelburri | 0:31f7be68e52d | 167 | |
chrigelburri | 0:31f7be68e52d | 168 | /** |
chrigelburri | 0:31f7be68e52d | 169 | * Increments the current motion state towards a given desired speed. |
chrigelburri | 0:31f7be68e52d | 170 | * @param desiredSpeed the desired speed given in [m/s]. |
chrigelburri | 0:31f7be68e52d | 171 | * @param desiredOmega the desired omega given in [rad/s]. |
chrigelburri | 0:31f7be68e52d | 172 | * @param period the time period to increment the motion state for, given in [s]. |
chrigelburri | 0:31f7be68e52d | 173 | */ |
chrigelburri | 0:31f7be68e52d | 174 | void increment(float desiredSpeed, float desiredOmega, float period); |
chrigelburri | 0:31f7be68e52d | 175 | }; |
chrigelburri | 0:31f7be68e52d | 176 | |
chrigelburri | 0:31f7be68e52d | 177 | #endif |