Christian Burri / Mbed 2 deprecated autonomous Robot Android

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

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

RobotControl/MotionState.h@6:48eeb41188dd, 2013-03-23 (annotated)

Committer:
chrigelburri
Date:
Sat Mar 23 13:52:48 2013 +0000
Revision:
6:48eeb41188dd
Parent:
3:92ba0254af87
Child:
11:775ebb69d5e1
mit link und rechten Radradius

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 "defines.h"
chrigelburri 0:31f7be68e52d 5
chrigelburri 0:31f7be68e52d 6 /**
chrigelburri 0:31f7be68e52d 7 * @author Christian Burri
chrigelburri 0:31f7be68e52d 8 *
chrigelburri 0:31f7be68e52d 9 * @section LICENSE
chrigelburri 0:31f7be68e52d 10 *
chrigelburri 1:6cd533a712c6 11 * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 0:31f7be68e52d 12 * All rights reserved.
chrigelburri 0:31f7be68e52d 13 *
chrigelburri 0:31f7be68e52d 14 * @section DESCRIPTION
chrigelburri 0:31f7be68e52d 15 *
chrigelburri 3:92ba0254af87 16 * This help class is for calculate and save the actual or desired value.
chrigelburri 3:92ba0254af87 17 * There have the setter and the getter methode to change the value
chrigelburri 3:92ba0254af87 18 * Is also possible to limit the translational and rotational speed
chrigelburri 3:92ba0254af87 19 * by the value acceleration and thetaAcceleration. Therefore
chrigelburri 3:92ba0254af87 20 * can adjust the ramp.
chrigelburri 0:31f7be68e52d 21 *
chrigelburri 0:31f7be68e52d 22 */
chrigelburri 0:31f7be68e52d 23 class MotionState
chrigelburri 0:31f7be68e52d 24 {
chrigelburri 0:31f7be68e52d 25
chrigelburri 0:31f7be68e52d 26 private:
chrigelburri 0:31f7be68e52d 27
chrigelburri 0:31f7be68e52d 28 float acceleration;
chrigelburri 0:31f7be68e52d 29 float thetaAcceleration;
chrigelburri 0:31f7be68e52d 30
chrigelburri 0:31f7be68e52d 31 public:
chrigelburri 0:31f7be68e52d 32
chrigelburri 0:31f7be68e52d 33 /** The xposition value of this motion state. */
chrigelburri 0:31f7be68e52d 34 float xposition;
chrigelburri 0:31f7be68e52d 35 /** The yposition value of this motion state. */
chrigelburri 0:31f7be68e52d 36 float yposition;
chrigelburri 3:92ba0254af87 37 /** The θ of this motion state. */
chrigelburri 0:31f7be68e52d 38 float theta;
chrigelburri 6:48eeb41188dd 39 /** The θ of this motion state from the compass. */
chrigelburri 0:31f7be68e52d 40 float thetaCompass;
chrigelburri 0:31f7be68e52d 41 /** The speed value of this motion state. */
chrigelburri 0:31f7be68e52d 42 float speed;
chrigelburri 0:31f7be68e52d 43 /** The speed rotational value of this motion state. */
chrigelburri 0:31f7be68e52d 44 float omega;
chrigelburri 0:31f7be68e52d 45
chrigelburri 0:31f7be68e52d 46 /**
chrigelburri 0:31f7be68e52d 47 * Creates a <code>MotionState</code> object.
chrigelburri 0:31f7be68e52d 48 * The values for position and speed are set to 0.
chrigelburri 0:31f7be68e52d 49 */
chrigelburri 0:31f7be68e52d 50 MotionState();
chrigelburri 0:31f7be68e52d 51
chrigelburri 0:31f7be68e52d 52 /**
chrigelburri 6:48eeb41188dd 53 * Creates a <code>MotionState</code> object with given values for position and speed.
chrigelburri 6:48eeb41188dd 54 * @param xposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 55 * @param yposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 56 * @param theta the initial &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 57 * @param speed the initial speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 58 * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 59 */
chrigelburri 6:48eeb41188dd 60 MotionState(float xposition,
chrigelburri 6:48eeb41188dd 61 float yposition,
chrigelburri 6:48eeb41188dd 62 float theta,
chrigelburri 6:48eeb41188dd 63 float speed,
chrigelburri 6:48eeb41188dd 64 float omega);
chrigelburri 0:31f7be68e52d 65
chrigelburri 0:31f7be68e52d 66 /**
chrigelburri 6:48eeb41188dd 67 * Destructor of the Object to destroy the Object.
chrigelburri 6:48eeb41188dd 68 **/
chrigelburri 0:31f7be68e52d 69 virtual ~MotionState();
chrigelburri 0:31f7be68e52d 70
chrigelburri 0:31f7be68e52d 71 /**
chrigelburri 6:48eeb41188dd 72 * Sets the values for xPosition, yPostion and &theta;.
chrigelburri 6:48eeb41188dd 73 * @param xposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 74 * @param yposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 75 * @param theta the initial &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 76 * @param speed the initial speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 77 * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 78 */
chrigelburri 6:48eeb41188dd 79 void setState(float xposition,
chrigelburri 6:48eeb41188dd 80 float yposition,
chrigelburri 6:48eeb41188dd 81 float theta,
chrigelburri 6:48eeb41188dd 82 float speed,
chrigelburri 6:48eeb41188dd 83 float omega);
chrigelburri 0:31f7be68e52d 84
chrigelburri 0:31f7be68e52d 85 /**
chrigelburri 6:48eeb41188dd 86 * Sets the values for X-Position, Y-Postion and &theta;.
chrigelburri 6:48eeb41188dd 87 * @param motionState another <code>MotionState</code> object to copy the state values from
chrigelburri 6:48eeb41188dd 88 */
chrigelburri 0:31f7be68e52d 89 void setState(MotionState* motionState);
chrigelburri 0:31f7be68e52d 90
chrigelburri 0:31f7be68e52d 91 /**
chrigelburri 6:48eeb41188dd 92 * Sets the X-position value.
chrigelburri 6:48eeb41188dd 93 * @param xposition the desired xposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 94 */
chrigelburri 1:6cd533a712c6 95 void setxPosition(float xposition);
chrigelburri 0:31f7be68e52d 96
chrigelburri 0:31f7be68e52d 97 /**
chrigelburri 6:48eeb41188dd 98 * Gets the X-position value.
chrigelburri 6:48eeb41188dd 99 * @return the xposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 100 */
chrigelburri 0:31f7be68e52d 101 float getxPosition();
chrigelburri 0:31f7be68e52d 102
chrigelburri 0:31f7be68e52d 103 /**
chrigelburri 6:48eeb41188dd 104 * Sets the Y-position value.
chrigelburri 6:48eeb41188dd 105 * @param yposition the desired yposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 106 */
chrigelburri 0:31f7be68e52d 107 void setyPosition(float yposition);
chrigelburri 0:31f7be68e52d 108
chrigelburri 0:31f7be68e52d 109 /**
chrigelburri 6:48eeb41188dd 110 * Gets the Y-position value.
chrigelburri 6:48eeb41188dd 111 * @return the xposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 112 */
chrigelburri 0:31f7be68e52d 113 float getyPosition();
chrigelburri 0:31f7be68e52d 114
chrigelburri 0:31f7be68e52d 115 /**
chrigelburri 6:48eeb41188dd 116 * Sets the &theta; value.
chrigelburri 6:48eeb41188dd 117 * @param theta the desired &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 118 */
chrigelburri 0:31f7be68e52d 119 void setTheta(float theta);
chrigelburri 0:31f7be68e52d 120
chrigelburri 0:31f7be68e52d 121 /**
chrigelburri 6:48eeb41188dd 122 * Gets the &theta; value.
chrigelburri 6:48eeb41188dd 123 * @return the &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 124 */
chrigelburri 0:31f7be68e52d 125 float getTheta();
chrigelburri 0:31f7be68e52d 126
chrigelburri 0:31f7be68e52d 127 /**
chrigelburri 6:48eeb41188dd 128 * Sets the speed value.
chrigelburri 6:48eeb41188dd 129 * @param speed the desired speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 130 */
chrigelburri 0:31f7be68e52d 131 void setSpeed(float speed);
chrigelburri 0:31f7be68e52d 132
chrigelburri 0:31f7be68e52d 133 /**
chrigelburri 6:48eeb41188dd 134 * Gets the speed value.
chrigelburri 6:48eeb41188dd 135 * @return the speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 136 */
chrigelburri 0:31f7be68e52d 137 float getSpeed();
chrigelburri 0:31f7be68e52d 138
chrigelburri 0:31f7be68e52d 139 /**
chrigelburri 6:48eeb41188dd 140 * Sets the &omega; value.
chrigelburri 6:48eeb41188dd 141 * @param omega the desired &omega; value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 142 */
chrigelburri 0:31f7be68e52d 143 void setOmega(float omega);
chrigelburri 0:31f7be68e52d 144
chrigelburri 0:31f7be68e52d 145 /**
chrigelburri 6:48eeb41188dd 146 * Gets the &omega; value.
chrigelburri 6:48eeb41188dd 147 * @return the &omega; value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 148 */
chrigelburri 0:31f7be68e52d 149 float getOmega();
chrigelburri 0:31f7be68e52d 150
chrigelburri 0:31f7be68e52d 151 /**
chrigelburri 6:48eeb41188dd 152 * Sets the maximum acceleration value.
chrigelburri 6:48eeb41188dd 153 * @param acceleration the maximum acceleration value to use for
chrigelburri 6:48eeb41188dd 154 * the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
chrigelburri 6:48eeb41188dd 155 */
chrigelburri 0:31f7be68e52d 156 void setAcceleration(float acceleration);
chrigelburri 0:31f7be68e52d 157
chrigelburri 0:31f7be68e52d 158 /**
chrigelburri 6:48eeb41188dd 159 * Gets the maximum acceleration value.
chrigelburri 6:48eeb41188dd 160 * @return the maximum acceleration value used for the calculation
chrigelburri 6:48eeb41188dd 161 * of the motion trajectory, given in [m/s<SUP>2</SUP>]
chrigelburri 6:48eeb41188dd 162 */
chrigelburri 0:31f7be68e52d 163 float getAcceleration();
chrigelburri 0:31f7be68e52d 164
chrigelburri 0:31f7be68e52d 165 /**
chrigelburri 6:48eeb41188dd 166 * Sets the maximum acceleration value of rotation.
chrigelburri 6:48eeb41188dd 167 * @param thetaAcceleration the maximum acceleration value to use for
chrigelburri 6:48eeb41188dd 168 * the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
chrigelburri 6:48eeb41188dd 169 */
chrigelburri 0:31f7be68e52d 170 void setThetaAcceleration(float thetaAcceleration);
chrigelburri 0:31f7be68e52d 171
chrigelburri 0:31f7be68e52d 172 /**
chrigelburri 6:48eeb41188dd 173 * Gets the maximum acceleration value of rotation.
chrigelburri 6:48eeb41188dd 174 * @return the maximum acceleration value used for the calculation of
chrigelburri 6:48eeb41188dd 175 * the motion trajectory, given in [rad/<SUP>2</SUP>]
chrigelburri 6:48eeb41188dd 176 */
chrigelburri 0:31f7be68e52d 177 float getThetaAcceleration();
chrigelburri 0:31f7be68e52d 178
chrigelburri 0:31f7be68e52d 179 /**
chrigelburri 6:48eeb41188dd 180 * Increments the current motion state towards a given desired speed.
chrigelburri 6:48eeb41188dd 181 * @param desiredSpeed the desired speed given in [m/s].
chrigelburri 6:48eeb41188dd 182 * @param desiredOmega the desired &omega; given in [rad/s].
chrigelburri 6:48eeb41188dd 183 * @param period the time period to increment the motion state for, given in [s]
chrigelburri 6:48eeb41188dd 184 */
chrigelburri 6:48eeb41188dd 185 void increment(float desiredSpeed,
chrigelburri 6:48eeb41188dd 186 float desiredOmega,
chrigelburri 6:48eeb41188dd 187 float period);
chrigelburri 0:31f7be68e52d 188 };
chrigelburri 0:31f7be68e52d 189
chrigelburri 0:31f7be68e52d 190 #endif