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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 consécutifs.
+ 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 linéaire 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 précise la distance minimale. Renvois faux si atteind.
+ bool computeArcs (double x, double y, double &l, double &r, double eps)
+ const;
+ // Met à jour la position.
+ void update (double dL, double dR);
+};
+
+// Affiche la position.
+std::ostream &operator<< (std::ostream &os, const Tracker &t);
+
+#endif // tracker_h