Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

RobotControl/MotionState.cpp@39:a4fd6206da89, 2013-06-10 (annotated)

Committer:
chrigelburri
Date:
Mon Jun 10 14:40:37 2013 +0000
Revision:
39:a4fd6206da89
Parent:
11:775ebb69d5e1 
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #include "MotionState.h"
chrigelburri 0:31f7be68e52d 2
chrigelburri 0:31f7be68e52d 3 using namespace std;
chrigelburri 0:31f7be68e52d 4
chrigelburri 0:31f7be68e52d 5 MotionState::MotionState()
chrigelburri 0:31f7be68e52d 6 {
chrigelburri 0:31f7be68e52d 7 xposition = 0.0f;
chrigelburri 0:31f7be68e52d 8 yposition = 0.0f;
chrigelburri 0:31f7be68e52d 9 theta = 0.0f;
chrigelburri 0:31f7be68e52d 10 speed = 0.0f;
chrigelburri 0:31f7be68e52d 11 omega = 0.0f;
chrigelburri 0:31f7be68e52d 12 }
chrigelburri 0:31f7be68e52d 13
chrigelburri 0:31f7be68e52d 14
chrigelburri 6:48eeb41188dd 15 MotionState::MotionState(float xposition,
chrigelburri 6:48eeb41188dd 16 float yposition,
chrigelburri 6:48eeb41188dd 17 float theta,
chrigelburri 6:48eeb41188dd 18 float speed,
chrigelburri 6:48eeb41188dd 19 float omega)
chrigelburri 0:31f7be68e52d 20 {
chrigelburri 0:31f7be68e52d 21 this->xposition = xposition;
chrigelburri 0:31f7be68e52d 22 this->yposition = yposition;
chrigelburri 0:31f7be68e52d 23 this->theta = theta;
chrigelburri 0:31f7be68e52d 24 this->speed = speed;
chrigelburri 0:31f7be68e52d 25 this->omega = omega;
chrigelburri 0:31f7be68e52d 26 }
chrigelburri 0:31f7be68e52d 27
chrigelburri 0:31f7be68e52d 28 MotionState::~MotionState()
chrigelburri 0:31f7be68e52d 29 {
chrigelburri 0:31f7be68e52d 30
chrigelburri 0:31f7be68e52d 31 }
chrigelburri 0:31f7be68e52d 32
chrigelburri 6:48eeb41188dd 33 void MotionState::setState(float xposition,
chrigelburri 6:48eeb41188dd 34 float yposition,
chrigelburri 6:48eeb41188dd 35 float theta,
chrigelburri 6:48eeb41188dd 36 float speed,
chrigelburri 6:48eeb41188dd 37 float omega)
chrigelburri 0:31f7be68e52d 38 {
chrigelburri 0:31f7be68e52d 39 this->xposition = xposition;
chrigelburri 0:31f7be68e52d 40 this->yposition = yposition;
chrigelburri 0:31f7be68e52d 41 this->theta = theta;
chrigelburri 0:31f7be68e52d 42 this->speed = speed;
chrigelburri 0:31f7be68e52d 43 this->omega = omega;
chrigelburri 0:31f7be68e52d 44 }
chrigelburri 0:31f7be68e52d 45
chrigelburri 0:31f7be68e52d 46 void MotionState::setState(MotionState* motionState)
chrigelburri 0:31f7be68e52d 47 {
chrigelburri 0:31f7be68e52d 48 xposition = motionState->xposition;
chrigelburri 0:31f7be68e52d 49 yposition = motionState->yposition;
chrigelburri 0:31f7be68e52d 50 theta = motionState->theta;
chrigelburri 0:31f7be68e52d 51 speed = motionState->speed;
chrigelburri 0:31f7be68e52d 52 omega = motionState->omega;
chrigelburri 0:31f7be68e52d 53 }
chrigelburri 0:31f7be68e52d 54
chrigelburri 0:31f7be68e52d 55 void MotionState::setxPosition(float xposition)
chrigelburri 0:31f7be68e52d 56 {
chrigelburri 0:31f7be68e52d 57 this->xposition = xposition;
chrigelburri 0:31f7be68e52d 58 }
chrigelburri 0:31f7be68e52d 59
chrigelburri 0:31f7be68e52d 60 float MotionState::getxPosition()
chrigelburri 0:31f7be68e52d 61 {
chrigelburri 0:31f7be68e52d 62 return xposition;
chrigelburri 0:31f7be68e52d 63 }
chrigelburri 0:31f7be68e52d 64
chrigelburri 0:31f7be68e52d 65 void MotionState::setyPosition(float yposition)
chrigelburri 0:31f7be68e52d 66 {
chrigelburri 0:31f7be68e52d 67 this->yposition = yposition;
chrigelburri 0:31f7be68e52d 68 }
chrigelburri 0:31f7be68e52d 69
chrigelburri 0:31f7be68e52d 70 float MotionState::getyPosition()
chrigelburri 0:31f7be68e52d 71 {
chrigelburri 0:31f7be68e52d 72 return yposition;
chrigelburri 0:31f7be68e52d 73 }
chrigelburri 0:31f7be68e52d 74
chrigelburri 0:31f7be68e52d 75 void MotionState::setTheta(float theta)
chrigelburri 0:31f7be68e52d 76 {
chrigelburri 0:31f7be68e52d 77 this->theta = theta;
chrigelburri 0:31f7be68e52d 78 }
chrigelburri 0:31f7be68e52d 79
chrigelburri 0:31f7be68e52d 80 float MotionState::getTheta()
chrigelburri 0:31f7be68e52d 81 {
chrigelburri 0:31f7be68e52d 82 return theta;
chrigelburri 0:31f7be68e52d 83 }
chrigelburri 0:31f7be68e52d 84
chrigelburri 0:31f7be68e52d 85 void MotionState::setSpeed(float speed)
chrigelburri 0:31f7be68e52d 86 {
chrigelburri 0:31f7be68e52d 87 this->speed = speed;
chrigelburri 0:31f7be68e52d 88 }
chrigelburri 0:31f7be68e52d 89
chrigelburri 0:31f7be68e52d 90 float MotionState::getSpeed()
chrigelburri 0:31f7be68e52d 91 {
chrigelburri 0:31f7be68e52d 92 return speed;
chrigelburri 0:31f7be68e52d 93 }
chrigelburri 0:31f7be68e52d 94
chrigelburri 0:31f7be68e52d 95 void MotionState::setOmega(float omega)
chrigelburri 0:31f7be68e52d 96 {
chrigelburri 0:31f7be68e52d 97 this->omega = omega;
chrigelburri 0:31f7be68e52d 98 }
chrigelburri 0:31f7be68e52d 99
chrigelburri 0:31f7be68e52d 100 float MotionState::getOmega()
chrigelburri 0:31f7be68e52d 101 {
chrigelburri 0:31f7be68e52d 102 return omega;
chrigelburri 0:31f7be68e52d 103 }
chrigelburri 0:31f7be68e52d 104