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authorschodet2004-04-25 20:49:40 +0000
committerschodet2004-04-25 20:49:40 +0000
commit0c53c7063dc2764c7d4d1e6ff73f82aaaad9311a (patch)
treeac5c3f6c582027f14a1019544ca18c8cd4116e22 /2004/i/nono/src/motor/goto_circle.h
parent3af9c88516543659002f5303d703f32579b45d6f (diff)
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+#ifndef goto_circle_h
+#define goto_circle_h
+// goto_circle.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"
+
+/// Classe abstraite d'un fournisseur de point pour MovementGoto.
+class GotoCircle : public Goto
+{
+ double r_, a_;
+ double cx_, cy_;
+ public:
+ /// Constructeur.
+ /// r : rayon (mm).
+ /// a : angle (rad > 0).
+ GotoCircle (double r, double a);
+ /// 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);
+};
+
+#endif // goto_circle_h