This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of autonomousRobotAndroid by
RobotControl/MotionState.h@12:235e318a414f, 2013-04-07 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun Apr 07 08:31:51 2013 +0000
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 38:d76e488e725f
Kommentare nochmals verbessert android fehlt noch
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 "defines.h" |
chrigelburri | 0:31f7be68e52d | 5 | |
chrigelburri | 0:31f7be68e52d | 6 | /** |
chrigelburri | 0:31f7be68e52d | 7 | * @author Christian Burri |
chrigelburri | 0:31f7be68e52d | 8 | * |
chrigelburri | 11:775ebb69d5e1 | 9 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 0:31f7be68e52d | 10 | * All rights reserved. |
chrigelburri | 0:31f7be68e52d | 11 | * |
chrigelburri | 11:775ebb69d5e1 | 12 | * @brief |
chrigelburri | 0:31f7be68e52d | 13 | * |
chrigelburri | 3:92ba0254af87 | 14 | * This help class is for calculate and save the actual or desired value. |
chrigelburri | 3:92ba0254af87 | 15 | * There have the setter and the getter methode to change the value |
chrigelburri | 0:31f7be68e52d | 16 | * |
chrigelburri | 0:31f7be68e52d | 17 | */ |
chrigelburri | 0:31f7be68e52d | 18 | class MotionState |
chrigelburri | 0:31f7be68e52d | 19 | { |
chrigelburri | 0:31f7be68e52d | 20 | |
chrigelburri | 0:31f7be68e52d | 21 | public: |
chrigelburri | 0:31f7be68e52d | 22 | |
chrigelburri | 11:775ebb69d5e1 | 23 | /** @brief The xposition value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 24 | float xposition; |
chrigelburri | 11:775ebb69d5e1 | 25 | /** @brief The yposition value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 26 | float yposition; |
chrigelburri | 11:775ebb69d5e1 | 27 | /** @brief The θ of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 28 | float theta; |
chrigelburri | 11:775ebb69d5e1 | 29 | /** @brief The speed value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 30 | float speed; |
chrigelburri | 11:775ebb69d5e1 | 31 | /** @brief The speed rotational value of this motion state. */ |
chrigelburri | 0:31f7be68e52d | 32 | float omega; |
chrigelburri | 0:31f7be68e52d | 33 | |
chrigelburri | 0:31f7be68e52d | 34 | /** |
chrigelburri | 11:775ebb69d5e1 | 35 | * @brief Creates a <code>MotionState</code> object. |
chrigelburri | 0:31f7be68e52d | 36 | * The values for position and speed are set to 0. |
chrigelburri | 0:31f7be68e52d | 37 | */ |
chrigelburri | 0:31f7be68e52d | 38 | MotionState(); |
chrigelburri | 0:31f7be68e52d | 39 | |
chrigelburri | 0:31f7be68e52d | 40 | /** |
chrigelburri | 11:775ebb69d5e1 | 41 | * @brief Creates a <code>MotionState</code> object with given values for position and speed. |
chrigelburri | 6:48eeb41188dd | 42 | * @param xposition the initial position value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 43 | * @param yposition the initial position value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 44 | * @param theta the initial θ value of this motion state, given in [rad] |
chrigelburri | 6:48eeb41188dd | 45 | * @param speed the initial speed value of this motion state, given in [m/s] |
chrigelburri | 6:48eeb41188dd | 46 | * @param omega the initial ω speed value of this motion state, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 47 | */ |
chrigelburri | 6:48eeb41188dd | 48 | MotionState(float xposition, |
chrigelburri | 6:48eeb41188dd | 49 | float yposition, |
chrigelburri | 6:48eeb41188dd | 50 | float theta, |
chrigelburri | 6:48eeb41188dd | 51 | float speed, |
chrigelburri | 6:48eeb41188dd | 52 | float omega); |
chrigelburri | 0:31f7be68e52d | 53 | |
chrigelburri | 0:31f7be68e52d | 54 | /** |
chrigelburri | 11:775ebb69d5e1 | 55 | * @brief Destructor of the Object to destroy the Object. |
chrigelburri | 12:235e318a414f | 56 | */ |
chrigelburri | 0:31f7be68e52d | 57 | virtual ~MotionState(); |
chrigelburri | 0:31f7be68e52d | 58 | |
chrigelburri | 0:31f7be68e52d | 59 | /** |
chrigelburri | 11:775ebb69d5e1 | 60 | * @brief Sets the values for xPosition, yPostion and θ. |
chrigelburri | 6:48eeb41188dd | 61 | * @param xposition the initial position value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 62 | * @param yposition the initial position value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 63 | * @param theta the initial θ value of this motion state, given in [rad] |
chrigelburri | 6:48eeb41188dd | 64 | * @param speed the initial speed value of this motion state, given in [m/s] |
chrigelburri | 6:48eeb41188dd | 65 | * @param omega the initial ω speed value of this motion state, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 66 | */ |
chrigelburri | 6:48eeb41188dd | 67 | void setState(float xposition, |
chrigelburri | 6:48eeb41188dd | 68 | float yposition, |
chrigelburri | 6:48eeb41188dd | 69 | float theta, |
chrigelburri | 6:48eeb41188dd | 70 | float speed, |
chrigelburri | 6:48eeb41188dd | 71 | float omega); |
chrigelburri | 0:31f7be68e52d | 72 | |
chrigelburri | 0:31f7be68e52d | 73 | /** |
chrigelburri | 11:775ebb69d5e1 | 74 | * @brief Sets the values for X-Position, Y-Postion and θ. |
chrigelburri | 6:48eeb41188dd | 75 | * @param motionState another <code>MotionState</code> object to copy the state values from |
chrigelburri | 6:48eeb41188dd | 76 | */ |
chrigelburri | 0:31f7be68e52d | 77 | void setState(MotionState* motionState); |
chrigelburri | 0:31f7be68e52d | 78 | |
chrigelburri | 0:31f7be68e52d | 79 | /** |
chrigelburri | 11:775ebb69d5e1 | 80 | * @brief Sets the X-position value. |
chrigelburri | 6:48eeb41188dd | 81 | * @param xposition the desired xposition value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 82 | */ |
chrigelburri | 1:6cd533a712c6 | 83 | void setxPosition(float xposition); |
chrigelburri | 0:31f7be68e52d | 84 | |
chrigelburri | 0:31f7be68e52d | 85 | /** |
chrigelburri | 11:775ebb69d5e1 | 86 | * @brief Gets the X-position value. |
chrigelburri | 6:48eeb41188dd | 87 | * @return the xposition value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 88 | */ |
chrigelburri | 0:31f7be68e52d | 89 | float getxPosition(); |
chrigelburri | 0:31f7be68e52d | 90 | |
chrigelburri | 0:31f7be68e52d | 91 | /** |
chrigelburri | 11:775ebb69d5e1 | 92 | * @brief Sets the Y-position value. |
chrigelburri | 6:48eeb41188dd | 93 | * @param yposition the desired yposition value of this motion state, given in [m] |
chrigelburri | 6:48eeb41188dd | 94 | */ |
chrigelburri | 0:31f7be68e52d | 95 | void setyPosition(float yposition); |
chrigelburri | 0:31f7be68e52d | 96 | |
chrigelburri | 0:31f7be68e52d | 97 | /** |
chrigelburri | 11:775ebb69d5e1 | 98 | * @brief Gets the Y-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 getyPosition(); |
chrigelburri | 0:31f7be68e52d | 102 | |
chrigelburri | 0:31f7be68e52d | 103 | /** |
chrigelburri | 11:775ebb69d5e1 | 104 | * @brief Sets the θ value. |
chrigelburri | 6:48eeb41188dd | 105 | * @param theta the desired θ value of this motion state, given in [rad] |
chrigelburri | 6:48eeb41188dd | 106 | */ |
chrigelburri | 0:31f7be68e52d | 107 | void setTheta(float theta); |
chrigelburri | 0:31f7be68e52d | 108 | |
chrigelburri | 0:31f7be68e52d | 109 | /** |
chrigelburri | 11:775ebb69d5e1 | 110 | * @brief Gets the θ value. |
chrigelburri | 6:48eeb41188dd | 111 | * @return the θ value of this motion state, given in [rad] |
chrigelburri | 6:48eeb41188dd | 112 | */ |
chrigelburri | 0:31f7be68e52d | 113 | float getTheta(); |
chrigelburri | 0:31f7be68e52d | 114 | |
chrigelburri | 0:31f7be68e52d | 115 | /** |
chrigelburri | 11:775ebb69d5e1 | 116 | * @brief Sets the speed value. |
chrigelburri | 6:48eeb41188dd | 117 | * @param speed the desired speed value of this motion state, given in [m/s] |
chrigelburri | 6:48eeb41188dd | 118 | */ |
chrigelburri | 0:31f7be68e52d | 119 | void setSpeed(float speed); |
chrigelburri | 0:31f7be68e52d | 120 | |
chrigelburri | 0:31f7be68e52d | 121 | /** |
chrigelburri | 11:775ebb69d5e1 | 122 | * @brief Gets the speed value. |
chrigelburri | 6:48eeb41188dd | 123 | * @return the speed value of this motion state, given in [m/s] |
chrigelburri | 6:48eeb41188dd | 124 | */ |
chrigelburri | 0:31f7be68e52d | 125 | float getSpeed(); |
chrigelburri | 0:31f7be68e52d | 126 | |
chrigelburri | 0:31f7be68e52d | 127 | /** |
chrigelburri | 11:775ebb69d5e1 | 128 | * @brief Sets the ω value. |
chrigelburri | 6:48eeb41188dd | 129 | * @param omega the desired ω value of this motion state, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 130 | */ |
chrigelburri | 0:31f7be68e52d | 131 | void setOmega(float omega); |
chrigelburri | 0:31f7be68e52d | 132 | |
chrigelburri | 0:31f7be68e52d | 133 | /** |
chrigelburri | 11:775ebb69d5e1 | 134 | * @brief Gets the ω value. |
chrigelburri | 6:48eeb41188dd | 135 | * @return the ω value of this motion state, given in [rad/s] |
chrigelburri | 6:48eeb41188dd | 136 | */ |
chrigelburri | 0:31f7be68e52d | 137 | float getOmega(); |
chrigelburri | 0:31f7be68e52d | 138 | |
chrigelburri | 0:31f7be68e52d | 139 | }; |
chrigelburri | 0:31f7be68e52d | 140 | |
chrigelburri | 0:31f7be68e52d | 141 | #endif |