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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
Diff: RobotControl/MotionState.h
- Revision:
- 1:6cd533a712c6
- Parent:
- 0:31f7be68e52d
- Child:
- 3:92ba0254af87
diff -r 31f7be68e52d -r 6cd533a712c6 RobotControl/MotionState.h --- a/RobotControl/MotionState.h Thu Feb 07 17:43:19 2013 +0000 +++ b/RobotControl/MotionState.h Sat Mar 02 09:39:34 2013 +0000 @@ -9,7 +9,7 @@ * * @section LICENSE * - * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe + * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe * All rights reserved. * * @section DESCRIPTION @@ -52,7 +52,7 @@ * @param yposition the initial position value of this motion state, given in [m]. * @param theta the initial angle value of this motion state, given in [rad]. * @param speed the initial speed value of this motion state, given in [m/s]. - * @param omega the initial omega speed value of this motion state, given in [rad/s]. + * @param omega the initial ω speed value of this motion state, given in [rad/s]. */ MotionState(float xposition, float yposition, float theta, float speed, float omega); @@ -67,7 +67,7 @@ * @param yposition the initial position value of this motion state, given in [m]. * @param theta the initial angle value of this motion state, given in [rad]. * @param speed the initial speed value of this motion state, given in [m/s]. - * @param omega the initial omega speed value of this motion state, given in [rad/s]. + * @param omega the initial ω speed value of this motion state, given in [rad/s]. */ void setState(float xposition, float yposition, float theta, float speed, float omega); @@ -79,9 +79,9 @@ /** * Sets the X-position value. - * @param the desired xposition value of this motion state, given in [m]. + * @param xposition the desired xposition value of this motion state, given in [m]. */ - void setxPosition(float position); + void setxPosition(float xposition); /** * Gets the X-position value. @@ -91,7 +91,7 @@ /** * Sets the Y-position value. - * @param the desired yposition value of this motion state, given in [m]. + * @param yposition the desired yposition value of this motion state, given in [m]. */ void setyPosition(float yposition); @@ -103,7 +103,7 @@ /** * Sets the theta value. - * @param the desired theta value of this motion state, given in [m]. + * @param theta the desired theta value of this motion state, given in [m]. */ void setTheta(float theta); @@ -126,49 +126,45 @@ float getSpeed(); /** - * Sets the omega value. - * @param omega the desired omega value of this motion state, given in [rad/s]. + * Sets the ω value. + * @param omega the desired ω value of this motion state, given in [rad/s]. */ void setOmega(float omega); /** - * Gets the omega value. - * @return the omega value of this motion state, given in [rad/s]. + * Gets the ω value. + * @return the ω value of this motion state, given in [rad/s]. */ float getOmega(); /** * Sets the maximum acceleration value. - * @param acceleration the maximum acceleration value to use for the calculation - * of the motion trajectory, given in [m/s²]. + * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]. */ void setAcceleration(float acceleration); /** * Gets the maximum acceleration value. - * @return the maximum acceleration value used for the calculation - * of the motion trajectory, given in [m/s²]. + * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]. */ float getAcceleration(); /** * Sets the maximum acceleration value of rotation. - * @param acceleration the maximum acceleration value to use for the calculation - * of the motion trajectory, given in [rad/s²]. + * @param thetaAcceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]. */ void setThetaAcceleration(float thetaAcceleration); /** * Gets the maximum acceleration value of rotation. - * @return the maximum acceleration value used for the calculation - * of the motion trajectory, given in [rad/s²]. + * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]. */ float getThetaAcceleration(); /** * Increments the current motion state towards a given desired speed. * @param desiredSpeed the desired speed given in [m/s]. - * @param desiredOmega the desired omega given in [rad/s]. + * @param desiredOmega the desired ω given in [rad/s]. * @param period the time period to increment the motion state for, given in [s]. */ void increment(float desiredSpeed, float desiredOmega, float period);