Fawkes API  Fawkes Development Version
backward_drive_mode.h
1 
2 /***************************************************************************
3  * backward_drive_mode.h - Implementation of drive-mode "backward"
4  *
5  * Created: Fri Oct 18 15:16:23 2013
6  * Copyright 2002 Stefan Jacobs
7  * 2013-2014 Bahram Maleki-Fard
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_COLLI_BACKWARD_DRIVE_MODE_H_
24 #define __PLUGINS_COLLI_BACKWARD_DRIVE_MODE_H_
25 
26 #include "abstract_drive_mode.h"
27 
28 namespace fawkes
29 {
30 #if 0 /* just to make Emacs auto-indent happy */
31 }
32 #endif
33 
35 {
36  public:
37  BackwardDriveModule(Logger* logger, Configuration* config);
39 
40  void update();
41 
42  private:
43  float backward_curvature( float dist_to_target, float dist_to_trajec, float alpha,
44  float cur_trans, float cur_rot );
45 
46  float backward_translation( float dist_to_target, float dist_to_front, float alpha,
47  float cur_trans, float cur_rot, float des_rot );
48 
49 };
50 
51 } // nanespace fawkes
52 
53 #endif
Fawkes library namespace.
void update()
Calculate here your desired settings.
BackwardDriveModule(Logger *logger, Configuration *config)
Constructor.
This is the base class which calculates drive modes.
This is the SlowBackward drive-module, for slow backward only movements.
Interface for configuration handling.
Definition: config.h:67
~BackwardDriveModule()
Destruct your local values here!
Interface for logging.
Definition: logger.h:34