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.h@39:a4fd6206da89, 2013-06-10 (annotated)

Committer:
chrigelburri
Date:
Mon Jun 10 14:40:37 2013 +0000
Revision:
39:a4fd6206da89
Parent:
38:d76e488e725f 
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #ifndef _MOTION_STATE_H_
chrigelburri 0:31f7be68e52d 2 #define _MOTION_STATE_H_
chrigelburri 0:31f7be68e52d 3
chrigelburri 0:31f7be68e52d 4 #include "defines.h"
chrigelburri 0:31f7be68e52d 5
chrigelburri 0:31f7be68e52d 6 /**
chrigelburri 0:31f7be68e52d 7 * @author Christian Burri
chrigelburri 0:31f7be68e52d 8 *
chrigelburri 38:d76e488e725f 9 * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 0:31f7be68e52d 10 * All rights reserved.
chrigelburri 0:31f7be68e52d 11 *
chrigelburri 11:775ebb69d5e1 12 * @brief
chrigelburri 0:31f7be68e52d 13 *
chrigelburri 3:92ba0254af87 14 * This help class is for calculate and save the actual or desired value.
chrigelburri 3:92ba0254af87 15 * There have the setter and the getter methode to change the value
chrigelburri 0:31f7be68e52d 16 *
chrigelburri 38:d76e488e725f 17 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
chrigelburri 38:d76e488e725f 18 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
chrigelburri 38:d76e488e725f 19 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
chrigelburri 38:d76e488e725f 20 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
chrigelburri 38:d76e488e725f 21 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
chrigelburri 38:d76e488e725f 22 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
chrigelburri 38:d76e488e725f 23 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chrigelburri 0:31f7be68e52d 24 */
chrigelburri 0:31f7be68e52d 25 class MotionState
chrigelburri 0:31f7be68e52d 26 {
chrigelburri 0:31f7be68e52d 27
chrigelburri 0:31f7be68e52d 28 public:
chrigelburri 0:31f7be68e52d 29
chrigelburri 11:775ebb69d5e1 30 /** @brief The xposition value of this motion state. */
chrigelburri 0:31f7be68e52d 31 float xposition;
chrigelburri 11:775ebb69d5e1 32 /** @brief The yposition value of this motion state. */
chrigelburri 0:31f7be68e52d 33 float yposition;
chrigelburri 11:775ebb69d5e1 34 /** @brief The θ of this motion state. */
chrigelburri 0:31f7be68e52d 35 float theta;
chrigelburri 11:775ebb69d5e1 36 /** @brief The speed value of this motion state. */
chrigelburri 0:31f7be68e52d 37 float speed;
chrigelburri 11:775ebb69d5e1 38 /** @brief The speed rotational value of this motion state. */
chrigelburri 0:31f7be68e52d 39 float omega;
chrigelburri 0:31f7be68e52d 40
chrigelburri 0:31f7be68e52d 41 /**
chrigelburri 11:775ebb69d5e1 42 * @brief Creates a <code>MotionState</code> object.
chrigelburri 0:31f7be68e52d 43 * The values for position and speed are set to 0.
chrigelburri 0:31f7be68e52d 44 */
chrigelburri 0:31f7be68e52d 45 MotionState();
chrigelburri 0:31f7be68e52d 46
chrigelburri 0:31f7be68e52d 47 /**
chrigelburri 11:775ebb69d5e1 48 * @brief Creates a <code>MotionState</code> object with given values for position and speed.
chrigelburri 6:48eeb41188dd 49 * @param xposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 50 * @param yposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 51 * @param theta the initial &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 52 * @param speed the initial speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 53 * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 54 */
chrigelburri 6:48eeb41188dd 55 MotionState(float xposition,
chrigelburri 6:48eeb41188dd 56 float yposition,
chrigelburri 6:48eeb41188dd 57 float theta,
chrigelburri 6:48eeb41188dd 58 float speed,
chrigelburri 6:48eeb41188dd 59 float omega);
chrigelburri 0:31f7be68e52d 60
chrigelburri 0:31f7be68e52d 61 /**
chrigelburri 11:775ebb69d5e1 62 * @brief Destructor of the Object to destroy the Object.
chrigelburri 12:235e318a414f 63 */
chrigelburri 0:31f7be68e52d 64 virtual ~MotionState();
chrigelburri 0:31f7be68e52d 65
chrigelburri 0:31f7be68e52d 66 /**
chrigelburri 11:775ebb69d5e1 67 * @brief Sets the values for xPosition, yPostion and &theta;.
chrigelburri 6:48eeb41188dd 68 * @param xposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 69 * @param yposition the initial position value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 70 * @param theta the initial &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 71 * @param speed the initial speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 72 * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 73 */
chrigelburri 6:48eeb41188dd 74 void setState(float xposition,
chrigelburri 6:48eeb41188dd 75 float yposition,
chrigelburri 6:48eeb41188dd 76 float theta,
chrigelburri 6:48eeb41188dd 77 float speed,
chrigelburri 6:48eeb41188dd 78 float omega);
chrigelburri 0:31f7be68e52d 79
chrigelburri 0:31f7be68e52d 80 /**
chrigelburri 11:775ebb69d5e1 81 * @brief Sets the values for X-Position, Y-Postion and &theta;.
chrigelburri 6:48eeb41188dd 82 * @param motionState another <code>MotionState</code> object to copy the state values from
chrigelburri 6:48eeb41188dd 83 */
chrigelburri 0:31f7be68e52d 84 void setState(MotionState* motionState);
chrigelburri 0:31f7be68e52d 85
chrigelburri 0:31f7be68e52d 86 /**
chrigelburri 11:775ebb69d5e1 87 * @brief Sets the X-position value.
chrigelburri 6:48eeb41188dd 88 * @param xposition the desired xposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 89 */
chrigelburri 1:6cd533a712c6 90 void setxPosition(float xposition);
chrigelburri 0:31f7be68e52d 91
chrigelburri 0:31f7be68e52d 92 /**
chrigelburri 11:775ebb69d5e1 93 * @brief Gets the X-position value.
chrigelburri 6:48eeb41188dd 94 * @return the xposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 95 */
chrigelburri 0:31f7be68e52d 96 float getxPosition();
chrigelburri 0:31f7be68e52d 97
chrigelburri 0:31f7be68e52d 98 /**
chrigelburri 11:775ebb69d5e1 99 * @brief Sets the Y-position value.
chrigelburri 6:48eeb41188dd 100 * @param yposition the desired yposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 101 */
chrigelburri 0:31f7be68e52d 102 void setyPosition(float yposition);
chrigelburri 0:31f7be68e52d 103
chrigelburri 0:31f7be68e52d 104 /**
chrigelburri 11:775ebb69d5e1 105 * @brief Gets the Y-position value.
chrigelburri 6:48eeb41188dd 106 * @return the xposition value of this motion state, given in [m]
chrigelburri 6:48eeb41188dd 107 */
chrigelburri 0:31f7be68e52d 108 float getyPosition();
chrigelburri 0:31f7be68e52d 109
chrigelburri 0:31f7be68e52d 110 /**
chrigelburri 11:775ebb69d5e1 111 * @brief Sets the &theta; value.
chrigelburri 6:48eeb41188dd 112 * @param theta the desired &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 113 */
chrigelburri 0:31f7be68e52d 114 void setTheta(float theta);
chrigelburri 0:31f7be68e52d 115
chrigelburri 0:31f7be68e52d 116 /**
chrigelburri 11:775ebb69d5e1 117 * @brief Gets the &theta; value.
chrigelburri 6:48eeb41188dd 118 * @return the &theta; value of this motion state, given in [rad]
chrigelburri 6:48eeb41188dd 119 */
chrigelburri 0:31f7be68e52d 120 float getTheta();
chrigelburri 0:31f7be68e52d 121
chrigelburri 0:31f7be68e52d 122 /**
chrigelburri 11:775ebb69d5e1 123 * @brief Sets the speed value.
chrigelburri 6:48eeb41188dd 124 * @param speed the desired speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 125 */
chrigelburri 0:31f7be68e52d 126 void setSpeed(float speed);
chrigelburri 0:31f7be68e52d 127
chrigelburri 0:31f7be68e52d 128 /**
chrigelburri 11:775ebb69d5e1 129 * @brief Gets the speed value.
chrigelburri 6:48eeb41188dd 130 * @return the speed value of this motion state, given in [m/s]
chrigelburri 6:48eeb41188dd 131 */
chrigelburri 0:31f7be68e52d 132 float getSpeed();
chrigelburri 0:31f7be68e52d 133
chrigelburri 0:31f7be68e52d 134 /**
chrigelburri 11:775ebb69d5e1 135 * @brief Sets the &omega; value.
chrigelburri 6:48eeb41188dd 136 * @param omega the desired &omega; value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 137 */
chrigelburri 0:31f7be68e52d 138 void setOmega(float omega);
chrigelburri 0:31f7be68e52d 139
chrigelburri 0:31f7be68e52d 140 /**
chrigelburri 11:775ebb69d5e1 141 * @brief Gets the &omega; value.
chrigelburri 6:48eeb41188dd 142 * @return the &omega; value of this motion state, given in [rad/s]
chrigelburri 6:48eeb41188dd 143 */
chrigelburri 0:31f7be68e52d 144 float getOmega();
chrigelburri 0:31f7be68e52d 145
chrigelburri 0:31f7be68e52d 146 };
chrigelburri 0:31f7be68e52d 147
chrigelburri 0:31f7be68e52d 148 #endif