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@3:92ba0254af87, 2013-03-07 (annotated)

Committer:
chrigelburri
Date:
Thu Mar 07 09:47:07 2013 +0000
Revision:
3:92ba0254af87
Parent:
1:6cd533a712c6
Child:
6:48eeb41188dd
bitte kommentare korriegieren;

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 3:92ba0254af87 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 0:31f7be68e52d 53 * Creates a <code>MotionState</code> object with given values for position and speed.
chrigelburri 3:92ba0254af87 54 * @param xposition the initial position value of this motion state, given in [m]
chrigelburri 3:92ba0254af87 55 * @param yposition the initial position value of this motion state, given in [m]
chrigelburri 3:92ba0254af87 56 * @param theta the initial &theta; value of this motion state, given in [rad]
chrigelburri 3:92ba0254af87 57 * @param speed the initial speed value of this motion state, given in [m/s]
chrigelburri 3:92ba0254af87 58 * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
chrigelburri 0:31f7be68e52d 59 */
chrigelburri 0:31f7be68e52d 60 MotionState(float xposition, float yposition, float theta, float speed, float omega);
chrigelburri 0:31f7be68e52d 61
chrigelburri 0:31f7be68e52d 62 /**
chrigelburri 0:31f7be68e52d 63 * Destructor of the Object to destroy the Object.
chrigelburri 0:31f7be68e52d 64 **/
chrigelburri 0:31f7be68e52d 65 virtual ~MotionState();
chrigelburri 0:31f7be68e52d 66
chrigelburri 0:31f7be68e52d 67 /**
chrigelburri 3:92ba0254af87 68 * Sets the values for xPosition, yPostion and &theta;.
chrigelburri 3:92ba0254af87 69 * @param xposition the initial position value of this motion state, given in [m]
chrigelburri 3:92ba0254af87 70 * @param yposition the initial position value of this motion state, given in [m]
chrigelburri 3:92ba0254af87 71 * @param theta the initial &theta; value of this motion state, given in [rad]
chrigelburri 3:92ba0254af87 72 * @param speed the initial speed value of this motion state, given in [m/s]
chrigelburri 3:92ba0254af87 73 * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
chrigelburri 0:31f7be68e52d 74 */
chrigelburri 0:31f7be68e52d 75 void setState(float xposition, float yposition, float theta, float speed, float omega);
chrigelburri 0:31f7be68e52d 76
chrigelburri 0:31f7be68e52d 77 /**
chrigelburri 3:92ba0254af87 78 * Sets the values for X-Position, Y-Postion and &theta;.
chrigelburri 3:92ba0254af87 79 * @param motionState another <code>MotionState</code> object to copy the state values from
chrigelburri 0:31f7be68e52d 80 */
chrigelburri 0:31f7be68e52d 81 void setState(MotionState* motionState);
chrigelburri 0:31f7be68e52d 82
chrigelburri 0:31f7be68e52d 83 /**
chrigelburri 0:31f7be68e52d 84 * Sets the X-position value.
chrigelburri 3:92ba0254af87 85 * @param xposition the desired xposition value of this motion state, given in [m]
chrigelburri 0:31f7be68e52d 86 */
chrigelburri 1:6cd533a712c6 87 void setxPosition(float xposition);
chrigelburri 0:31f7be68e52d 88
chrigelburri 0:31f7be68e52d 89 /**
chrigelburri 0:31f7be68e52d 90 * Gets the X-position value.
chrigelburri 3:92ba0254af87 91 * @return the xposition value of this motion state, given in [m]
chrigelburri 0:31f7be68e52d 92 */
chrigelburri 0:31f7be68e52d 93 float getxPosition();
chrigelburri 0:31f7be68e52d 94
chrigelburri 0:31f7be68e52d 95 /**
chrigelburri 0:31f7be68e52d 96 * Sets the Y-position value.
chrigelburri 3:92ba0254af87 97 * @param yposition the desired yposition value of this motion state, given in [m]
chrigelburri 0:31f7be68e52d 98 */
chrigelburri 0:31f7be68e52d 99 void setyPosition(float yposition);
chrigelburri 0:31f7be68e52d 100
chrigelburri 0:31f7be68e52d 101 /**
chrigelburri 0:31f7be68e52d 102 * Gets the Y-position value.
chrigelburri 3:92ba0254af87 103 * @return the xposition value of this motion state, given in [m]
chrigelburri 0:31f7be68e52d 104 */
chrigelburri 0:31f7be68e52d 105 float getyPosition();
chrigelburri 0:31f7be68e52d 106
chrigelburri 0:31f7be68e52d 107 /**
chrigelburri 3:92ba0254af87 108 * Sets the &theta; value.
chrigelburri 3:92ba0254af87 109 * @param theta the desired &theta; value of this motion state, given in [rad]
chrigelburri 0:31f7be68e52d 110 */
chrigelburri 0:31f7be68e52d 111 void setTheta(float theta);
chrigelburri 0:31f7be68e52d 112
chrigelburri 0:31f7be68e52d 113 /**
chrigelburri 3:92ba0254af87 114 * Gets the &theta; value.
chrigelburri 3:92ba0254af87 115 * @return the &theta; value of this motion state, given in [rad]
chrigelburri 0:31f7be68e52d 116 */
chrigelburri 0:31f7be68e52d 117 float getTheta();
chrigelburri 0:31f7be68e52d 118
chrigelburri 0:31f7be68e52d 119 /**
chrigelburri 0:31f7be68e52d 120 * Sets the speed value.
chrigelburri 3:92ba0254af87 121 * @param speed the desired speed value of this motion state, given in [m/s]
chrigelburri 0:31f7be68e52d 122 */
chrigelburri 0:31f7be68e52d 123 void setSpeed(float speed);
chrigelburri 0:31f7be68e52d 124
chrigelburri 0:31f7be68e52d 125 /**
chrigelburri 0:31f7be68e52d 126 * Gets the speed value.
chrigelburri 3:92ba0254af87 127 * @return the speed value of this motion state, given in [m/s]
chrigelburri 0:31f7be68e52d 128 */
chrigelburri 0:31f7be68e52d 129 float getSpeed();
chrigelburri 0:31f7be68e52d 130
chrigelburri 0:31f7be68e52d 131 /**
chrigelburri 1:6cd533a712c6 132 * Sets the &omega; value.
chrigelburri 3:92ba0254af87 133 * @param omega the desired &omega; value of this motion state, given in [rad/s]
chrigelburri 0:31f7be68e52d 134 */
chrigelburri 0:31f7be68e52d 135 void setOmega(float omega);
chrigelburri 0:31f7be68e52d 136
chrigelburri 0:31f7be68e52d 137 /**
chrigelburri 1:6cd533a712c6 138 * Gets the &omega; value.
chrigelburri 3:92ba0254af87 139 * @return the &omega; value of this motion state, given in [rad/s]
chrigelburri 0:31f7be68e52d 140 */
chrigelburri 0:31f7be68e52d 141 float getOmega();
chrigelburri 0:31f7be68e52d 142
chrigelburri 0:31f7be68e52d 143 /**
chrigelburri 0:31f7be68e52d 144 * Sets the maximum acceleration value.
chrigelburri 3:92ba0254af87 145 * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
chrigelburri 0:31f7be68e52d 146 */
chrigelburri 0:31f7be68e52d 147 void setAcceleration(float acceleration);
chrigelburri 0:31f7be68e52d 148
chrigelburri 0:31f7be68e52d 149 /**
chrigelburri 0:31f7be68e52d 150 * Gets the maximum acceleration value.
chrigelburri 3:92ba0254af87 151 * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
chrigelburri 0:31f7be68e52d 152 */
chrigelburri 0:31f7be68e52d 153 float getAcceleration();
chrigelburri 0:31f7be68e52d 154
chrigelburri 0:31f7be68e52d 155 /**
chrigelburri 0:31f7be68e52d 156 * Sets the maximum acceleration value of rotation.
chrigelburri 3:92ba0254af87 157 * @param thetaAcceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
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 3:92ba0254af87 163 * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
chrigelburri 0:31f7be68e52d 164 */
chrigelburri 0:31f7be68e52d 165 float getThetaAcceleration();
chrigelburri 0:31f7be68e52d 166
chrigelburri 0:31f7be68e52d 167 /**
chrigelburri 0:31f7be68e52d 168 * Increments the current motion state towards a given desired speed.
chrigelburri 0:31f7be68e52d 169 * @param desiredSpeed the desired speed given in [m/s].
chrigelburri 1:6cd533a712c6 170 * @param desiredOmega the desired &omega; given in [rad/s].
chrigelburri 3:92ba0254af87 171 * @param period the time period to increment the motion state for, given in [s]
chrigelburri 0:31f7be68e52d 172 */
chrigelburri 0:31f7be68e52d 173 void increment(float desiredSpeed, float desiredOmega, float period);
chrigelburri 0:31f7be68e52d 174 };
chrigelburri 0:31f7be68e52d 175
chrigelburri 0:31f7be68e52d 176 #endif