Fawkes API  Fawkes Development Version
forward_omni_drive_mode.h
1 
2 /***************************************************************************
3  * forward_omni_drive_mode.h - Implementation of drive-mode "forward"
4  *
5  * Created: Fri Oct 18 15:16:23 2013
6  * Copyright 2014 Tobias Neumann
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_COLLI_FORWARD_OMNI_DRIVE_MODE_H_
23 #define _PLUGINS_COLLI_FORWARD_OMNI_DRIVE_MODE_H_
24 
25 #include "abstract_drive_mode.h"
26 
27 namespace fawkes {
28 
29 class ForwardOmniDriveModule : public AbstractDriveMode
30 {
31 public:
32  ForwardOmniDriveModule(Logger *logger, Configuration *config);
34 
35  virtual void update();
36 
37 private:
38  void calculate_rotation(float ori_alpha_target,
39  float ori_alpha_next_target,
40  float dist_to_target,
41  float angle_allowed_to_next_target);
42 
43  void calculate_translation(float dist_to_target, float ori_alpha_target, float dec_factor);
44 };
45 
46 } // namespace fawkes
47 
48 #endif
fawkes
fawkes::ForwardOmniDriveModule::~ForwardOmniDriveModule
~ForwardOmniDriveModule()
Descturctor.
Definition: forward_omni_drive_mode.cpp:57
fawkes::ForwardOmniDriveModule::update
virtual void update()
Calculate here your desired settings.
Definition: forward_omni_drive_mode.cpp:140
fawkes::ForwardOmniDriveModule::ForwardOmniDriveModule
ForwardOmniDriveModule(Logger *logger, Configuration *config)
Constructor.
Definition: forward_omni_drive_mode.cpp:44