From 18570afbe14ef0bcc12ddb6c39fc6047190e052e Mon Sep 17 00:00:00 2001 From: schodet Date: Thu, 13 May 2004 20:08:24 +0000 Subject: Ajout de GotoTracker. Correction minaures. --- 2004/i/nono/src/motor/goto_tracker.cc | 82 +++++++++++++++++++++++++++++++++++ 1 file changed, 82 insertions(+) create mode 100644 2004/i/nono/src/motor/goto_tracker.cc (limited to '2004/i/nono/src/motor/goto_tracker.cc') diff --git a/2004/i/nono/src/motor/goto_tracker.cc b/2004/i/nono/src/motor/goto_tracker.cc new file mode 100644 index 0000000..adc7c36 --- /dev/null +++ b/2004/i/nono/src/motor/goto_tracker.cc @@ -0,0 +1,82 @@ +// 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; +} + -- cgit v1.2.3