#ifndef goto_circle_h #define goto_circle_h // goto_circle.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 effectuant un cercle. class GotoCircle : public Goto { double r_, a_; double cx_, cy_; public: /// Constructeur. /// r : rayon (mm). /// a : angle (rad > 0). GotoCircle (double r, double a); /// 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); }; #endif // goto_circle_h