File content as of revision 3:92ba0254af87:

#ifndef _MOTION_STATE_H_
#define _MOTION_STATE_H_

#include "defines.h"

/**
 * @author Christian Burri
 *
 * @section LICENSE
 *
 * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
 * All rights reserved.
 *
 * @section DESCRIPTION
 *
 * This help class is for calculate and save the actual or desired value.
 * There have the setter and the getter methode to change the value
 * Is also possible to limit the translational and rotational speed
 * by the value acceleration and thetaAcceleration. Therefore
 * can adjust the ramp.
 *
 */
class MotionState
{

private:

    float               acceleration;
    float               thetaAcceleration;

public:

    /** The xposition value of this motion state. */
    float xposition;
    /** The yposition value of this motion state. */
    float yposition;
    /** The θ of this motion state. */
    float theta;
    /** The θ of this motion state from the compass. */      
    float thetaCompass;
    /** The speed value of this motion state. */
    float speed;
    /** The speed rotational value of this motion state. */
    float omega;

    /**
     * Creates a <code>MotionState</code> object.
     * The values for position and speed are set to 0.
     */
    MotionState();

    /**
    * Creates a <code>MotionState</code> object with given values for position and speed.
    * @param xposition the initial position value of this motion state, given in [m]
    * @param yposition the initial position value of this motion state, given in [m]
    * @param theta the initial &theta; value of this motion state, given in [rad]
    * @param speed the initial speed value of this motion state, given in [m/s]
    * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
    */
    MotionState(float xposition, float yposition, float theta, float speed, float omega);

    /**
    * Destructor of the Object to destroy the Object.
    **/
    virtual     ~MotionState();

    /**
    * Sets the values for xPosition, yPostion and &theta;.
    * @param xposition the initial position value of this motion state, given in [m]
    * @param yposition the initial position value of this motion state, given in [m]
    * @param theta the initial &theta; value of this motion state, given in [rad]
    * @param speed the initial speed value of this motion state, given in [m/s]
    * @param omega the initial &omega; speed value of this motion state, given in [rad/s]
    */
    void        setState(float xposition, float yposition, float theta, float speed, float omega);

    /**
    * Sets the values for X-Position, Y-Postion and &theta;.
    * @param motionState another <code>MotionState</code> object to copy the state values from
    */
    void        setState(MotionState* motionState);

    /**
    * Sets the X-position value.
    * @param xposition the desired xposition value of this motion state, given in [m]
    */
    void        setxPosition(float xposition);

    /**
    * Gets the X-position value.
    * @return the xposition value of this motion state, given in [m]
    */
    float       getxPosition();

    /**
    * Sets the Y-position value.
    * @param yposition the desired yposition value of this motion state, given in [m]
    */
    void        setyPosition(float yposition);

    /**
    * Gets the Y-position value.
    * @return the xposition value of this motion state, given in [m]
    */
    float       getyPosition();

    /**
    * Sets the &theta; value.
    * @param theta the desired &theta; value of this motion state, given in [rad]
    */
    void        setTheta(float theta);

    /**
    * Gets the &theta; value.
    * @return the &theta; value of this motion state, given in [rad]
    */
    float       getTheta();

    /**
    * Sets the speed value.
    * @param speed the desired speed value of this motion state, given in [m/s]
    */
    void        setSpeed(float speed);

    /**
    * Gets the speed value.
    * @return the speed value of this motion state, given in [m/s]
    */
    float       getSpeed();

    /**
    * Sets the &omega; value.
    * @param omega the desired &omega; value of this motion state, given in [rad/s]
    */
    void        setOmega(float omega);

    /**
    * Gets the &omega; value.
    * @return the &omega; value of this motion state, given in [rad/s]
    */
    float       getOmega();

    /**
    * Sets the maximum acceleration value.
    * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
    */
    void        setAcceleration(float acceleration);

    /**
    * Gets the maximum acceleration value.
    * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
    */
    float       getAcceleration();

    /**
    * Sets the maximum acceleration value of rotation.
    * @param thetaAcceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
    */
    void        setThetaAcceleration(float thetaAcceleration);

    /**
    * Gets the maximum acceleration value of rotation.
    * @return the maximum acceleration value used for the calculation of the motion trajectory, given in [rad/<SUP>2</SUP>]
    */
    float       getThetaAcceleration();

    /**
    * Increments the current motion state towards a given desired speed.
    * @param desiredSpeed the desired speed given in [m/s].
    * @param desiredOmega the desired &omega; given in [rad/s].
    * @param period the time period to increment the motion state for, given in [s]
    */
    void        increment(float desiredSpeed, float desiredOmega, float period);
};

#endif