summaryrefslogtreecommitdiff
path: root/2004/i/nono/src/motor/goto_tracker.h
diff options
context:
space:
mode:
Diffstat (limited to '2004/i/nono/src/motor/goto_tracker.h')
-rw-r--r--2004/i/nono/src/motor/goto_tracker.h53
1 files changed, 53 insertions, 0 deletions
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