Fawkes API
Fawkes Development Version
forward_omni_drive_mode.h
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/***************************************************************************
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* forward_omni_drive_mode.h - Implementation of drive-mode "forward"
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*
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* Created: Fri Oct 18 15:16:23 2013
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* Copyright 2014 Tobias Neumann
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_COLLI_FORWARD_OMNI_DRIVE_MODE_H_
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#define _PLUGINS_COLLI_FORWARD_OMNI_DRIVE_MODE_H_
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#include "abstract_drive_mode.h"
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namespace
fawkes
{
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class
ForwardOmniDriveModule
:
public
AbstractDriveMode
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{
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public
:
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ForwardOmniDriveModule
(
Logger
*logger,
Configuration
*config);
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~ForwardOmniDriveModule
();
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virtual
void
update
();
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private
:
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void
calculate_rotation(
float
ori_alpha_target,
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float
ori_alpha_next_target,
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float
dist_to_target,
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float
angle_allowed_to_next_target);
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void
calculate_translation(
float
dist_to_target,
float
ori_alpha_target,
float
dec_factor);
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};
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}
// namespace fawkes
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#endif
fawkes::Configuration
Interface for configuration handling.
Definition:
config.h:65
fawkes::AbstractDriveMode
This is the base class which calculates drive modes.
Definition:
abstract_drive_mode.h:41
fawkes::Logger
Interface for logging.
Definition:
logger.h:42
fawkes
Fawkes library namespace.
fawkes::ForwardOmniDriveModule::~ForwardOmniDriveModule
~ForwardOmniDriveModule()
Descturctor.
Definition:
forward_omni_drive_mode.cpp:52
fawkes::ForwardOmniDriveModule::update
virtual void update()
Calculate here your desired settings.
Definition:
forward_omni_drive_mode.cpp:135
fawkes::ForwardOmniDriveModule
This is the SlowForward drive-module, for slow forward only movements.
Definition:
forward_omni_drive_mode.h:30
fawkes::ForwardOmniDriveModule::ForwardOmniDriveModule
ForwardOmniDriveModule(Logger *logger, Configuration *config)
Constructor.
Definition:
forward_omni_drive_mode.cpp:39
src
plugins
colli
drive_modes
forward_omni_drive_mode.h
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