Marco Oehler
/
Lab3
ROME2 Lab3
TaskMoveTo.cpp@2:fc9e2aebf9d5, 2020-03-25 (annotated)
- Committer:
- oehlemar
- Date:
- Wed Mar 25 14:15:52 2020 +0000
- Revision:
- 2:fc9e2aebf9d5
- Parent:
- 1:ff05970bb9b0
final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
oehlemar | 0:6a4d3264c067 | 1 | /* |
oehlemar | 0:6a4d3264c067 | 2 | * TaskMoveTo.cpp |
oehlemar | 0:6a4d3264c067 | 3 | * Copyright (c) 2020, ZHAW |
oehlemar | 0:6a4d3264c067 | 4 | * All rights reserved. |
oehlemar | 0:6a4d3264c067 | 5 | */ |
oehlemar | 0:6a4d3264c067 | 6 | |
oehlemar | 0:6a4d3264c067 | 7 | #include <cmath> |
oehlemar | 0:6a4d3264c067 | 8 | #include "TaskMoveTo.h" |
oehlemar | 0:6a4d3264c067 | 9 | |
oehlemar | 0:6a4d3264c067 | 10 | |
oehlemar | 0:6a4d3264c067 | 11 | using namespace std; |
oehlemar | 0:6a4d3264c067 | 12 | |
oehlemar | 0:6a4d3264c067 | 13 | const float TaskMoveTo::DEFAULT_VELOCITY = 0.5f; // default velocity value, given in [m/s] |
oehlemar | 0:6a4d3264c067 | 14 | const float TaskMoveTo::DEFAULT_ZONE = 0.01f; // default zone value, given in [m] |
oehlemar | 0:6a4d3264c067 | 15 | const float TaskMoveTo::PI = 3.14159265f; // the constant PI |
oehlemar | 0:6a4d3264c067 | 16 | const float TaskMoveTo::K1 = 2.0f; // position controller gain parameter |
oehlemar | 0:6a4d3264c067 | 17 | const float TaskMoveTo::K2 = 2.0f; // position controller gain parameter |
oehlemar | 0:6a4d3264c067 | 18 | const float TaskMoveTo::K3 = 1.0f; // position controller gain parameter |
oehlemar | 0:6a4d3264c067 | 19 | |
oehlemar | 0:6a4d3264c067 | 20 | /** |
oehlemar | 0:6a4d3264c067 | 21 | * Creates a task object that moves the robot to a given pose. |
oehlemar | 0:6a4d3264c067 | 22 | * @param conroller a reference to the controller object of the robot. |
oehlemar | 0:6a4d3264c067 | 23 | * @param x the x coordinate of the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 24 | * @param y the y coordinate of the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 25 | * @param alpha the target orientation, given in [rad]. |
oehlemar | 0:6a4d3264c067 | 26 | */ |
oehlemar | 0:6a4d3264c067 | 27 | TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha) : controller(controller) { |
oehlemar | 0:6a4d3264c067 | 28 | |
oehlemar | 0:6a4d3264c067 | 29 | this->x = x; |
oehlemar | 0:6a4d3264c067 | 30 | this->y = y; |
oehlemar | 0:6a4d3264c067 | 31 | this->alpha = alpha; |
oehlemar | 0:6a4d3264c067 | 32 | this->velocity = DEFAULT_VELOCITY; |
oehlemar | 0:6a4d3264c067 | 33 | this->zone = DEFAULT_ZONE; |
oehlemar | 0:6a4d3264c067 | 34 | } |
oehlemar | 0:6a4d3264c067 | 35 | |
oehlemar | 0:6a4d3264c067 | 36 | /** |
oehlemar | 0:6a4d3264c067 | 37 | * Creates a task object that moves the robot to a given pose. |
oehlemar | 0:6a4d3264c067 | 38 | * @param conroller a reference to the controller object of the robot. |
oehlemar | 0:6a4d3264c067 | 39 | * @param x the x coordinate of the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 40 | * @param y the y coordinate of the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 41 | * @param alpha the target orientation, given in [rad]. |
oehlemar | 0:6a4d3264c067 | 42 | * @param velocity the maximum translational velocity, given in [m/s]. |
oehlemar | 0:6a4d3264c067 | 43 | */ |
oehlemar | 0:6a4d3264c067 | 44 | TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity) : controller(controller) { |
oehlemar | 0:6a4d3264c067 | 45 | |
oehlemar | 0:6a4d3264c067 | 46 | this->x = x; |
oehlemar | 0:6a4d3264c067 | 47 | this->y = y; |
oehlemar | 0:6a4d3264c067 | 48 | this->alpha = alpha; |
oehlemar | 0:6a4d3264c067 | 49 | this->velocity = velocity; |
oehlemar | 0:6a4d3264c067 | 50 | this->zone = DEFAULT_ZONE; |
oehlemar | 0:6a4d3264c067 | 51 | } |
oehlemar | 0:6a4d3264c067 | 52 | |
oehlemar | 0:6a4d3264c067 | 53 | /** |
oehlemar | 0:6a4d3264c067 | 54 | * Creates a task object that moves the robot to a given pose. |
oehlemar | 0:6a4d3264c067 | 55 | * @param conroller a reference to the controller object of the robot. |
oehlemar | 0:6a4d3264c067 | 56 | * @param x the x coordinate of the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 57 | * @param y the y coordinate of the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 58 | * @param alpha the target orientation, given in [rad]. |
oehlemar | 0:6a4d3264c067 | 59 | * @param velocity the maximum translational velocity, given in [m/s]. |
oehlemar | 0:6a4d3264c067 | 60 | * @param zone the zone threshold around the target position, given in [m]. |
oehlemar | 0:6a4d3264c067 | 61 | */ |
oehlemar | 0:6a4d3264c067 | 62 | TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone) : controller(controller) { |
oehlemar | 0:6a4d3264c067 | 63 | |
oehlemar | 0:6a4d3264c067 | 64 | this->x = x; |
oehlemar | 0:6a4d3264c067 | 65 | this->y = y; |
oehlemar | 0:6a4d3264c067 | 66 | this->alpha = alpha; |
oehlemar | 0:6a4d3264c067 | 67 | this->velocity = velocity; |
oehlemar | 0:6a4d3264c067 | 68 | this->zone = zone; |
oehlemar | 0:6a4d3264c067 | 69 | } |
oehlemar | 0:6a4d3264c067 | 70 | |
oehlemar | 0:6a4d3264c067 | 71 | /** |
oehlemar | 0:6a4d3264c067 | 72 | * Deletes the task object. |
oehlemar | 0:6a4d3264c067 | 73 | */ |
oehlemar | 0:6a4d3264c067 | 74 | TaskMoveTo::~TaskMoveTo() {} |
oehlemar | 0:6a4d3264c067 | 75 | |
oehlemar | 0:6a4d3264c067 | 76 | /** |
oehlemar | 0:6a4d3264c067 | 77 | * This method is called periodically by a task sequencer. |
oehlemar | 0:6a4d3264c067 | 78 | * @param period the period of the task sequencer, given in [s]. |
oehlemar | 0:6a4d3264c067 | 79 | * @return the status of this task, i.e. RUNNING or DONE. |
oehlemar | 0:6a4d3264c067 | 80 | */ |
oehlemar | 0:6a4d3264c067 | 81 | int TaskMoveTo::run(float period) { |
oehlemar | 0:6a4d3264c067 | 82 | |
oehlemar | 2:fc9e2aebf9d5 | 83 | |
oehlemar | 0:6a4d3264c067 | 84 | |
oehlemar | 0:6a4d3264c067 | 85 | // bitte implementieren! |
oehlemar | 0:6a4d3264c067 | 86 | |
oehlemar | 2:fc9e2aebf9d5 | 87 | double rho = sqrt(pow(x-controller.getX(),2)+pow(y-controller.getY(),2)); // if rho < 0.001 return done else return running |
oehlemar | 2:fc9e2aebf9d5 | 88 | |
oehlemar | 1:ff05970bb9b0 | 89 | |
oehlemar | 2:fc9e2aebf9d5 | 90 | if (rho < 0.00001) { //double nicht mit 0 verlgeichen, if statement für ob man schon an gewünschter koordinate ist oder nicht |
oehlemar | 2:fc9e2aebf9d5 | 91 | return DONE; |
oehlemar | 2:fc9e2aebf9d5 | 92 | } else { |
oehlemar | 2:fc9e2aebf9d5 | 93 | return RUNNING; |
oehlemar | 2:fc9e2aebf9d5 | 94 | } |
oehlemar | 1:ff05970bb9b0 | 95 | |
oehlemar | 0:6a4d3264c067 | 96 | double gamma = atan2(y-controller.getY(),x-controller.getX())- controller.getAlpha(); |
oehlemar | 0:6a4d3264c067 | 97 | double delta = gamma + controller.getAlpha()-alpha; |
oehlemar | 1:ff05970bb9b0 | 98 | double beta; |
oehlemar | 0:6a4d3264c067 | 99 | |
oehlemar | 1:ff05970bb9b0 | 100 | if (gamma < -PI ){ |
oehlemar | 1:ff05970bb9b0 | 101 | gamma += 2*PI;} |
oehlemar | 1:ff05970bb9b0 | 102 | else if(gamma > PI){ |
oehlemar | 1:ff05970bb9b0 | 103 | gamma -= 2*PI;} |
oehlemar | 1:ff05970bb9b0 | 104 | else if(delta < -PI ){ |
oehlemar | 1:ff05970bb9b0 | 105 | delta += 2*PI;} |
oehlemar | 1:ff05970bb9b0 | 106 | else if(delta > PI){ |
oehlemar | 1:ff05970bb9b0 | 107 | delta -= 2*PI;} |
oehlemar | 2:fc9e2aebf9d5 | 108 | else if (gamma <= 0.000001){ |
oehlemar | 1:ff05970bb9b0 | 109 | beta = 0;} |
oehlemar | 1:ff05970bb9b0 | 110 | else {} |
oehlemar | 1:ff05970bb9b0 | 111 | |
oehlemar | 2:fc9e2aebf9d5 | 112 | beta = K2*gamma+K1*sin(gamma)*cos(gamma)*((gamma+K3*delta)/gamma); //falsche formel |
oehlemar | 2:fc9e2aebf9d5 | 113 | double x_trans = K1*rho*cos(gamma); |
oehlemar | 1:ff05970bb9b0 | 114 | |
oehlemar | 2:fc9e2aebf9d5 | 115 | controller.setTranslationalVelocity(x_trans); //GESCHIWNDIGKEITEN NICHT POSITION |
oehlemar | 2:fc9e2aebf9d5 | 116 | controller.setRotationalVelocity(beta); |
oehlemar | 0:6a4d3264c067 | 117 | |
oehlemar | 0:6a4d3264c067 | 118 | return DONE; |
oehlemar | 0:6a4d3264c067 | 119 | } |
oehlemar | 0:6a4d3264c067 | 120 |