#ifndef movement_goto_h #define movement_goto_h // movement_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 "movement.h" class MovementGotoParam { // Epsilon. double eps_; // Distance du point cible courant. double dist_; // Coefficient proportionnel linéaire et angulaire. double kpl_, kpa_; // Coefficient intégrals linéaire et angulaire. double kil_, kia_; // Maximum de saturation de l'integralle. double is_; // Coefficient de dérivée linéaire et angulaire. double kdl_, kda_; public: /// Constructeur, charge les paramètres depuis la Config. MovementGotoParam (void); friend class MovementGoto; }; class MovementGoto : public Movement { // Position d'arrivée. double dX_, dY_; // Integrales. double il_, ia_; // Dernière valeurs d'erreur. double lel_, lea_; // Paramètres d'asservissement. static MovementGotoParam param_; public: // Constructeur. MovementGoto (double x, double y); // Controlle la vitesse, retourne faux si mouvement terminé. bool control (void); }; #endif // movement_goto_h