Fawkes API  Fawkes Development Version
forward_omni_drive_mode.h
1 
2 /***************************************************************************
3  * forward_omni_drive_mode.h - Implementation of drive-mode "forward"
4  *
5  * Created: Fri Oct 18 15:16:23 2013
6  * Copyright 2014 Tobias Neumann
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef __PLUGINS_COLLI_FORWARD_OMNI_DRIVE_MODE_H_
23 #define __PLUGINS_COLLI_FORWARD_OMNI_DRIVE_MODE_H_
24 
25 #include "abstract_drive_mode.h"
26 
27 namespace fawkes
28 {
29 #if 0 /* just to make Emacs auto-indent happy */
30 }
31 #endif
32 
34 {
35  public:
38 
39  virtual void update();
40 
41  private:
42  void calculate_rotation(float ori_alpha_target, float ori_alpha_next_target,
43  float dist_to_target, float angle_allowed_to_next_target);
44 
45  void calculate_translation(float dist_to_target, float ori_alpha_target, float dec_factor);
46 };
47 
48 } // namespace fawkes
49 
50 #endif
Fawkes library namespace.
This is the SlowForward drive-module, for slow forward only movements.
virtual void update()
Calculate here your desired settings.
This is the base class which calculates drive modes.
ForwardOmniDriveModule(Logger *logger, Configuration *config)
Constructor.
Interface for configuration handling.
Definition: config.h:67
Interface for logging.
Definition: logger.h:34