|author||Nicolas Schodet||2013-04-03 08:16:40 +0200|
|committer||Nicolas Schodet||2013-04-03 21:37:44 +0200|
digital/io-hub/src/apbirthday: add move FSM
Diffstat (limited to 'digital/io-hub/src/common-cc/obstacles.hh')
1 files changed, 22 insertions, 0 deletions
diff --git a/digital/io-hub/src/common-cc/obstacles.hh b/digital/io-hub/src/common-cc/obstacles.hh
index c3d2bc34..486c64b2 100644
@@ -44,6 +44,28 @@ class Obstacles
/// Return true if there is an obstacle near the robot while going to a
/// destination point.
bool blocking (const vect_t &robot, const vect_t &dest) const;
+ /// Estimated obstacle radius. The obstacle may be larger than at the
+ /// detected edge.
+ static const int obstacle_radius_mm = 150;
+ /// Stop distance. Distance under which an obstacle is considered harmful
+ /// when moving.
+ static const int stop_mm = 350;
+ /// Clearance distance. Distance over which an obstacle should be to the
+ /// side when moving.
+ /// OK, more explanations: when moving, a rectangle is placed in front of
+ /// the robot, of length STOP_MM and width 2 * (CLEARANCE_MM +
+ /// BOT_SIZE_SIDE). If an obstacle is inside this rectangle, it is
+ /// considered in the way.
+ /// If the destination point is near (< STOP_MM), this reduce the
+ /// rectangle length.
+ /// If the destination is really near (< EPSILON_MM), ignore all this.
+ static const int clearance_mm = 100;
+ /// Destination distance near enough so that obstacles could be ignored.
+ static const int epsilon_mm = 70;
/// Validity period of a new obstacle.
static const int valid_new_ = 125;