#ifndef goto_hermite_h #define goto_hermite_h // goto_hermite.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" #include "utils/point.h" #include #include /// Goto suivant une courbe d'hermite. class GotoHermite : public Goto { typedef std::vector Points; Points points_; typedef std::vector Dists; Dists dists_; double step_; Point lastPoint_; double lastDist_; static const double stepSize_ = 0.01; static const double tightness_ = 0.5; static const double defaultDi_ = 0.0; static const double defaultDf_ = 600.0; double ia_, fa_, di_, df_; public: /// Constructeur. /// fa : angle final. GotoHermite (double fa); /// Constructeur. /// fa : angle final. /// di : longueur de la tangente initiale. /// df : longueur de la tangente finale. GotoHermite (double fa, double di, double df); /// Ajoute un point au chemin. void add (double x, double y); /// 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); /// Test le GotoHermite en affichant la liste des points générés. void test (std::ostream &os) const; protected: /// Calcule le point au pas step et la distance restant à parcourir, /// renvois faux si fini. bool computePoint (double step, Point &p, double &dist) const; }; #endif // goto_hermite_h