00001 #ifndef MOVEHELPER_H 00002 #define MOVEHELPER_H 00003 00004 extern struct TrajectoryConstraints trajectoryConstraintsDefault; 00005 00006 #ifdef __cplusplus 00007 extern "C" { 00008 #endif 00009 00010 extern double target_x, target_y; 00011 00012 void robot_trajectory_new(struct TrajectoryConstraints *tc); 00013 void robot_trajectory_new_backward(struct TrajectoryConstraints *tc); 00014 void robot_trajectory_add_point(double x_m, double y_m); 00015 void robot_trajectory_add_final_point(double x_m, double y_m, double heading_deg); 00016 void robot_trajectory_stop(); 00017 00018 void robot_send_speed(double left, double right); 00019 00020 void robot_goto(double x, double y /*, double phi*/); 00021 00022 #ifdef __cplusplus 00023 } 00024 #endif 00025 00026 00027 #endif
1.5.3