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+// 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;
+}
+