AutoControl.h

00001 #ifndef AUTOCONTROL_h
00002 #define AUTOCONTROL_h
00003 
00004 #include "PathTracking.h"
00005 #include "define.h"
00006 #include "SDclass.h"
00007 
00008 class AutoControl{
00009     public:
00010     AutoControl();
00011     int init(mySDclass*, int);
00012     void gPosiInit();
00013     coords pathTrackingMode(int mode, int state, int nextPhase);
00014     void calibrationGposi(double tempX, double tempY, double tempZ);
00015     coords commandMode_vel(double tempX, double tempY, double tempZ);
00016     void commandMode(int nextPhase, bool next = true);
00017     coords getRefVel(unsigned int swState = 0);
00018 
00019     int phase = 0;
00020     
00021     // mainプログラムとPathTrackingの媒介的な
00022     double Px(int);
00023     double Py(int);
00024     double onx();
00025     double ony();
00026     double angle();
00027     double dist();
00028     double refKakudo();
00029     void initSettings();
00030     void setConvPara(double conv_length, double conv_tnum);
00031     void setMaxPathnum(int);
00032     int getPathNum();
00033 
00034 
00035     private:
00036 };
00037 
00038 #endif