movehelper.cc File Reference

Author:

Michal Sojka

More...

#include "trgen.h"
#include "robot.h"
#include "movehelper.h"
#include "fsmmove.h"
#include <path_simplifier.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <math.h>
#include <map.h>

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Functions
static void	robot_trajectory_new_ex (struct TrajectoryConstraints *tc, bool backward)
void	robot_trajectory_new (struct TrajectoryConstraints *tc)
	Initializes new trajectory object for adding points.
void	robot_trajectory_new_backward (struct TrajectoryConstraints *tc)
void	robot_trajectory_add_point (double x_m, double y_m)
	Adds point in absolute coordinates to previously initialized trajectory object.
void	robot_trajectory_add_final_point (double x_m, double y_m, double heading_deg)
	Adds final point to trajectory objects and starts robot movement.
void	robot_trajectory_stop ()
	Stops actual movement.
void	robot_send_speed (double left, double right)
void	robot_goto (double x, double y)
	Makes move the robot to a target position.
Variables
struct TrajectoryConstraints	trajectoryConstraintsDefault
double	target_x
double	target_y

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Detailed Description

Author:

Michal Sojka

Date:

Wed Jun 13 13:27:58 2007

Conveniency functions for motion control.

Definition in file movehelper.cc.

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Function Documentation

void robot_goto	(	double	x,
		double	y
	)

Makes move the robot to a target position.

Use path panner to find the trajectory.

Parameters:

	x	X coordinate in meters.
	y	Y coordinate in meters.

Definition at line 147 of file movehelper.cc.

References FSM_SIGNAL, ROBOT_LOCK, and ROBOT_UNLOCK.

void robot_trajectory_add_final_point	(	double	x_m,
		double	y_m,
		double	heading_deg
	)

Adds final point to trajectory objects and starts robot movement.

Parameters:

	x_m	X coordinate in meters.
	y_m	Y coordinate in meters.
	heading_deg	Heading of the robot at the final point.

Definition at line 93 of file movehelper.cc.

References Trajectory::finalHeading, FSM_SIGNAL, new_trajectory(), ROBOT_LOCK, robot_trajectory_add_point(), and ROBOT_UNLOCK.

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void robot_trajectory_add_point	(	double	x_m,
		double	y_m
	)

Adds point in absolute coordinates to previously initialized trajectory object.

Parameters:

	x_m	X coordinate in meters.
	y_m	Y coordinate in meters.

Definition at line 72 of file movehelper.cc.

References Trajectory::addPoint(), new_trajectory(), ROBOT_LOCK, and ROBOT_UNLOCK.

Referenced by robot_trajectory_add_final_point().

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void robot_trajectory_new

(

struct TrajectoryConstraints *

tc

)

Initializes new trajectory object for adding points.

Path planner will not be used.

Parameters:

tc

Constrains for the trajectory.

Definition at line 59 of file movehelper.cc.

References robot_trajectory_new_ex().

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Variable Documentation

struct TrajectoryConstraints trajectoryConstraintsDefault

Initial value:

 {
        maxv: 0.3,              
        maxomega: 1.5,          
        maxangacc: 1,           
        maxacc: 0.3,            
        maxcenacc: 1,           
        maxe: (double)ROBOT_WIDTH_MM/2.0/1000.0 
}

Definition at line 22 of file movehelper.cc.

Referenced by new_goal().

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