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authorschodet2004-05-13 20:08:24 +0000
committerschodet2004-05-13 20:08:24 +0000
commit18570afbe14ef0bcc12ddb6c39fc6047190e052e (patch)
tree1521827d335054d5ca7a9bb9b9d16b6b39cddca1 /2004
parentcc5ed1e8f1ee554a292615cdfcd5cd86dc6f927a (diff)
Ajout de GotoTracker.
Correction minaures.
Diffstat (limited to '2004')
-rw-r--r--2004/i/nono/src/motor/Makefile.defs7
-rw-r--r--2004/i/nono/src/motor/goto_hermite.h3
-rw-r--r--2004/i/nono/src/motor/goto_tracker.cc82
-rw-r--r--2004/i/nono/src/motor/goto_tracker.h53
4 files changed, 140 insertions, 5 deletions
diff --git a/2004/i/nono/src/motor/Makefile.defs b/2004/i/nono/src/motor/Makefile.defs
index 2453e0d..6002fd8 100644
--- a/2004/i/nono/src/motor/Makefile.defs
+++ b/2004/i/nono/src/motor/Makefile.defs
@@ -1,7 +1,7 @@
TARGETS += test_motor test_asserv test_tracker test_goto_hermite
LIBS += motor.a
-test_motor_SOURCES = test_motor.cc motor_cmd.cc motor.a serial.a erreur.a \
- config.a date.a utils.a logger.a
+test_motor_SOURCES = test_motor.cc motor_cmd.cc motor.a serial.a \
+ config.a date.a utils.a logger.a erreur.a
test_asserv_SOURCES = test_asserv.cc motor.a serial.a erreur.a config.a \
date.a utils.a logger.a
test_tracker_SOURCES = test_tracker.cc motor.a serial.a erreur.a config.a \
@@ -9,7 +9,8 @@ test_tracker_SOURCES = test_tracker.cc motor.a serial.a erreur.a config.a \
motor_a_SOURCES = asserv.cc tracker.cc motor.cc \
movement_basic.cc movement_goto.cc movement_rotation.cc \
movement_round_cruise.cc \
- goto_simple.cc goto_circle.cc goto_hermite.cc
+ goto_simple.cc goto_circle.cc goto_hermite.cc \
+ goto_tracker.cc
test_goto_hermite_SOURCES = goto_hermite.cc test_goto_hermite.cc tracker.cc \
config.a logger.a erreur.a
diff --git a/2004/i/nono/src/motor/goto_hermite.h b/2004/i/nono/src/motor/goto_hermite.h
index 8815e12..aae6637 100644
--- a/2004/i/nono/src/motor/goto_hermite.h
+++ b/2004/i/nono/src/motor/goto_hermite.h
@@ -28,8 +28,7 @@
#include "utils/point.h"
#include <vector>
-
-namespace std { class ostream; }
+#include <iostream>
/// Goto suivant une courbe d'hermite.
class GotoHermite : public Goto
diff --git a/2004/i/nono/src/motor/goto_tracker.cc b/2004/i/nono/src/motor/goto_tracker.cc
new file mode 100644
index 0000000..adc7c36
--- /dev/null
+++ b/2004/i/nono/src/motor/goto_tracker.cc
@@ -0,0 +1,82 @@
+// goto_tracker.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "goto_tracker.h"
+
+/// Constructeur.
+GotoTracker::GotoTracker (void)
+ : track_ (false), changed_ (true),
+ x_ (0.0), y_ (0.0), dx_ (0.0), dy_ (0.0)
+{
+}
+
+/// Initialise le Goto, appelé au début de la trajectoire.
+void
+GotoTracker::init (const Tracker &t)
+{
+}
+
+/// Fournit la distance au point final (mm), le point le plus loin à moins
+/// de distmax (mm) et renvois false si le Goto est fini.
+/// eps : distance (mm) en dessous de laquelle on considère que la
+/// destination est atteinte.
+/// distmax : distance (mm) maximale du point.
+/// dist : distance (mm) au point final.
+/// (x, y) : point intermédiaire (mm).
+bool
+GotoTracker::get (const Tracker &t, double distmax, double eps, double &dist,
+ double &x, double &y)
+{
+ if (changed_)
+ {
+ if (!track_)
+ {
+ x_ = t.getX ();
+ y_ = t.getY ();
+ }
+ else
+ {
+ x_ = t.getX () + dx_ * cos (t.getAngle ());
+ y_ = t.getY () + dx_ * sin (t.getAngle ());
+ }
+ changed_ = false;
+ }
+ x = x_;
+ y = y_;
+ double dx = x_ - t.getX ();
+ double dy = y_ - t.getY ();
+ dist = sqrt (dx * dx + dy * dy);
+ return true;
+}
+
+/// Change la position de la cible.
+void
+GotoTracker::setTracked (bool track, double x, double y)
+{
+ changed_ = true;
+ track_ = track;
+ dx_ = x;
+ dy_ = y;
+}
+
diff --git a/2004/i/nono/src/motor/goto_tracker.h b/2004/i/nono/src/motor/goto_tracker.h
new file mode 100644
index 0000000..049ae73
--- /dev/null
+++ b/2004/i/nono/src/motor/goto_tracker.h
@@ -0,0 +1,53 @@
+#ifndef goto_tracker_h
+#define goto_tracker_h
+// goto_tracker.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+#include "goto.h"
+
+/// Goto suivant une balle.
+class GotoTracker : public Goto
+{
+ bool track_, changed_;
+ double x_, y_, dx_, dy_;
+ public:
+ /// Constructeur.
+ GotoTracker (void);
+ /// Initialise le Goto, appelé au début de la trajectoire.
+ void init (const Tracker &t);
+ /// Fournit la distance au point final (mm), le point le plus loin à moins
+ /// de distmax (mm) et renvois false si le Goto est fini.
+ /// eps : distance (mm) en dessous de laquelle on considère que la
+ /// destination est atteinte.
+ /// distmax : distance (mm) maximale du point.
+ /// dist : distance (mm) au point final.
+ /// (x, y) : point intermédiaire (mm).
+ bool get (const Tracker &t, double distmax, double eps,
+ double &dist, double &x, double &y);
+ /// Change la position de la cible.
+ void setTracked (bool track, double x, double y);
+};
+
+#endif // goto_tracker_h