#ifndef goto_h #define goto_h // goto.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 "tracker.h" /// Classe abstraite d'un fournisseur de point pour MovementGoto. class Goto { public: /// Destructeur. virtual ~Goto (void) { } /// Initialise le Goto, appelé au début de la trajectoire. virtual 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). virtual bool get (const Tracker &t, double distmax, double eps, double &dist, double &x, double &y) = 0; }; #endif // goto_h