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// goto_tracker.cc
// 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_tracker.h"

/// Constructeur.
GotoTracker::GotoTracker (void)
    : track_ (false), changed_ (true),
      x_ (0.0), y_ (0.0), dx_ (0.0), dy_ (0.0)
{
}

/// Initialise le Goto, appel� au d�but de la trajectoire.
void
GotoTracker::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
GotoTracker::get (const Tracker &t, double distmax, double eps, double &dist,
		  double &x, double &y)
{
    if (changed_)
      {
	if (!track_)
	  {
	    x_ = t.getX ();
	    y_ = t.getY ();
	  }
	else
	  {
	    x_ = t.getX () + dx_ * cos (t.getAngle ());
	    y_ = t.getY () + dx_ * sin (t.getAngle ());
	  }
	changed_ = false;
      }
    x = x_;
    y = y_;
    double dx = x_ - t.getX ();
    double dy = y_ - t.getY ();
    dist = sqrt (dx * dx + dy * dy);
    return true;
}

/// Change la position de la cible.
void
GotoTracker::setTracked (bool track, double x, double y)
{
    changed_ = true;
    track_ = track;
    dx_ = x;
    dy_ = y;
}