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+// movement_basic.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 "movement_basic.h"
+#include "tracker.h"
+#include "asserv.h"
+#include "motor.h"
+
+// Constructeur.
+MovementBasic::MovementBasic (double speed, double lenght)
+ : speed_ (speed), lenght2_ (lenght * lenght),
+ sX_ (0.0), sY_ (0.0)
+{
+}
+
+// Initialise le mouvement, appelé juste quand le mouvement est mis en
+// service.
+void
+MovementBasic::init (const Tracker &t, Asserv &a, Motor &m)
+{
+ Movement::init (t, a, m);
+ sX_ = t.getX ();
+ sY_ = t.getY ();
+}
+
+// Controlle la vitesse, retourne faux si mouvement terminé.
+bool
+MovementBasic::control (void)
+{
+ double dX = t_->getX () - sX_;
+ double dY = t_->getY () - sY_;
+ if (dX * dX + dY * dY >= lenght2_)
+ {
+ a_->stop ();
+ return false;
+ }
+ m_->speed (speed_, speed_);
+ return true;
+}
+