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#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, appel� au d�but de la trajectoire.
    void init (const Tracker &t);
    /// Fournit la distance au point final (mm), le point le plus loin � moins
    /// de distmax (mm) et renvois false si le Goto est fini.
    /// eps : distance (mm) en dessous de laquelle on consid�re que la
    /// destination est atteinte.
    /// distmax : distance (mm) maximale du point.
    /// dist : distance (mm) au point final.
    /// (x, y) : point interm�diaire (mm).
    bool get (const Tracker &t, double distmax, double eps,
	      double &dist, double &x, double &y);
};

#endif // goto_circle_h