Diff: TaskMoveTo.cpp

Revision:

0:6a4d3264c067

Child:

1:ff05970bb9b0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskMoveTo.cpp	Tue Mar 24 08:39:54 2020 +0000
@@ -0,0 +1,99 @@
+/*
+ * TaskMoveTo.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "TaskMoveTo.h"
+
+
+using namespace std;
+
+const float TaskMoveTo::DEFAULT_VELOCITY = 0.5f;    // default velocity value, given in [m/s]
+const float TaskMoveTo::DEFAULT_ZONE = 0.01f;       // default zone value, given in [m]
+const float TaskMoveTo::PI = 3.14159265f;           // the constant PI
+const float TaskMoveTo::K1 = 2.0f;                  // position controller gain parameter
+const float TaskMoveTo::K2 = 2.0f;                  // position controller gain parameter
+const float TaskMoveTo::K3 = 1.0f;                  // position controller gain parameter
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = DEFAULT_VELOCITY;
+    this->zone = DEFAULT_ZONE;
+}
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ * @param velocity the maximum translational velocity, given in [m/s].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = velocity;
+    this->zone = DEFAULT_ZONE;
+}
+
+/**
+ * Creates a task object that moves the robot to a given pose.
+ * @param conroller a reference to the controller object of the robot.
+ * @param x the x coordinate of the target position, given in [m].
+ * @param y the y coordinate of the target position, given in [m].
+ * @param alpha the target orientation, given in [rad].
+ * @param velocity the maximum translational velocity, given in [m/s].
+ * @param zone the zone threshold around the target position, given in [m].
+ */
+TaskMoveTo::TaskMoveTo(Controller& controller, float x, float y, float alpha, float velocity, float zone) : controller(controller) {
+    
+    this->x = x;
+    this->y = y;
+    this->alpha = alpha;
+    this->velocity = velocity;
+    this->zone = zone;
+}
+
+/**
+ * Deletes the task object.
+ */
+TaskMoveTo::~TaskMoveTo() {}
+
+/**
+ * This method is called periodically by a task sequencer.
+ * @param period the period of the task sequencer, given in [s].
+ * @return the status of this task, i.e. RUNNING or DONE.
+ */
+int TaskMoveTo::run(float period) {
+   
+    return RUNNING;
+    
+    // bitte implementieren!
+    
+    double rho = sqrt(pow(x-controller.getX(),2)+pow(y-controller.getY(),2));
+    double gamma = atan2(y-controller.getY(),x-controller.getX())- controller.getAlpha();
+    double delta = gamma + controller.getAlpha()-alpha;
+    
+    double x_trans = K1*rho;
+    double beta = K2*gamma+K3*delta;
+    
+    controller.setX(x_trans);
+    controller.setAlpha(beta);
+    
+    return DONE;
+}
+