#ifndef tracker_h #define tracker_h // tracker.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 class Tracker { // Position et angle (mm et rad). double posX_, posY_, angle_; // Distance entre les deux roues (mm). double f_; // Nombre d'updates nuls consécutifs. int zero_; public: // Constructeur. Tracker (void); // Destructeur. ~Tracker (void); // Set the position. void setPos (double x, double y, double angle); // Get the position. void getPos (double &x, double &y, double &angle) const; double getX (void) const { return posX_; } double getY (void) const { return posY_; } double getAngle (void) const { return angle_; } bool stopped (void) { return zero_ > 10; } // Calcule l'erreur linéaire et angulaire pour atteindre un point, // retourne faux si atteind. bool computeError (double x, double y, double &el, double &ea, double eps, double dist) const; // Calcule la longueur de l'arc gauche et droite pour atteindre un point. // EPS précise la distance minimale. Renvois faux si atteind. bool computeArcs (double x, double y, double &l, double &r, double eps) const; // Met à jour la position. void update (double dL, double dR); }; // Affiche la position. std::ostream &operator<< (std::ostream &os, const Tracker &t); #endif // tracker_h