Christian Burri
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 
Christian Burri
Diff: RobotControl/MotionState.cpp
- Revision:
- 0:31f7be68e52d
- Child:
- 6:48eeb41188dd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotControl/MotionState.cpp Thu Feb 07 17:43:19 2013 +0000
@@ -0,0 +1,135 @@
+#include "MotionState.h"
+
+using namespace std;
+
+MotionState::MotionState()
+{
+ xposition = 0.0f;
+ yposition = 0.0f;
+ theta = 0.0f;
+ thetaCompass = 0.0f;
+ speed = 0.0f;
+ omega = 0.0f;
+
+ acceleration = ACCELERATION;
+ thetaAcceleration = THETA_ACCELERATION;
+}
+
+
+MotionState::MotionState(float xposition, float yposition, float theta, float speed, float omega)
+{
+ this->xposition = xposition;
+ this->yposition = yposition;
+ this->theta = theta;
+ this->speed = speed;
+ this->omega = omega;
+ acceleration = ACCELERATION;
+ thetaAcceleration = THETA_ACCELERATION;
+}
+
+MotionState::~MotionState()
+{
+
+}
+
+void MotionState::setState(float xposition, float yposition, float theta, float speed, float omega)
+{
+ this->xposition = xposition;
+ this->yposition = yposition;
+ this->theta = theta;
+ this->speed = speed;
+ this->omega = omega;
+}
+
+void MotionState::setState(MotionState* motionState)
+{
+ xposition = motionState->xposition;
+ yposition = motionState->yposition;
+ theta = motionState->theta;
+ speed = motionState->speed;
+ omega = motionState->omega;
+}
+
+void MotionState::setxPosition(float xposition)
+{
+ this->xposition = xposition;
+}
+
+float MotionState::getxPosition()
+{
+ return xposition;
+}
+
+void MotionState::setyPosition(float yposition)
+{
+ this->yposition = yposition;
+}
+
+float MotionState::getyPosition()
+{
+ return yposition;
+}
+
+void MotionState::setTheta(float theta)
+{
+ this->theta = theta;
+}
+
+float MotionState::getTheta()
+{
+ return theta;
+}
+
+void MotionState::setSpeed(float speed)
+{
+ this->speed = speed;
+}
+
+float MotionState::getSpeed()
+{
+ return speed;
+}
+
+void MotionState::setOmega(float omega)
+{
+ this->omega = omega;
+}
+
+float MotionState::getOmega()
+{
+ return omega;
+}
+
+void MotionState::setAcceleration(float acceleration)
+{
+ this->acceleration = acceleration;
+}
+
+float MotionState::getAcceleration()
+{
+ return acceleration;
+}
+
+void MotionState::setThetaAcceleration(float thetaAcceleration)
+{
+ this->thetaAcceleration = thetaAcceleration;
+}
+
+float MotionState::getThetaAcceleration()
+{
+ return thetaAcceleration;
+}
+
+void MotionState::increment(float desiredSpeed, float desiredOmega, float period)
+{
+ float acceleration = (desiredSpeed-speed)/period;
+ if (acceleration < -this->acceleration) acceleration = -this->acceleration;
+ else if (acceleration > this->acceleration) acceleration = this->acceleration;
+
+ float thetaAcceleration = (desiredOmega-omega)/period;
+ if (thetaAcceleration < -this->thetaAcceleration) thetaAcceleration = -this->thetaAcceleration;
+ else if (thetaAcceleration > this->thetaAcceleration) thetaAcceleration = this->thetaAcceleration;
+
+ speed += acceleration * period;
+ omega += thetaAcceleration * period;
+}