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#ifndef tracker_h
#define tracker_h
// 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 <iostream>

class Tracker
{
    // Position et angle (mm et rad).
    double posX_, posY_, angle_;
    // Distance entre les deux roues (mm).
    double f_;
    // Nombre d'updates nuls cons�cutifs.
    int zero_;
  public:
    // Constructeur.
    Tracker (void);
    // Destructeur.
    ~Tracker (void);
    // Set the position.
    void setPos (double x, double y, double angle);
    // Get the position.
    void getPos (double &x, double &y, double &angle) const;
    double getX (void) const { return posX_; }
    double getY (void) const { return posY_; }
    double getAngle (void) const { return angle_; }
    bool stopped (void) { return zero_ > 10; }
    // Calcule l'erreur lin�aire et angulaire pour atteindre un point,
    // retourne faux si atteind.
    bool computeError (double x, double y, double &el, double &ea, double eps,
		       double dist) const;
    // Calcule la longueur de l'arc gauche et droite pour atteindre un point.
    // EPS pr�cise la distance minimale. Renvois faux si atteind.
    bool computeArcs (double x, double y, double &l, double &r, double eps)
	const;
    // Met � jour la position.
    void update (double dL, double dR);
};

// Affiche la position.
std::ostream &operator<< (std::ostream &os, const Tracker &t);

#endif // tracker_h