src/robofsm/common-states.h

   1 #ifndef COMMON_STATES_H
   2 #define COMMON_STATES_H
   3
   4 #define FSM_MAIN
   5
   6 #include "roboevent.h"
   7 #include <fsm.h>
   8
   9 extern struct TrajectoryConstraints tcFast, tcSlow, tcVerySlow;
  10
  11 /************************************************************************
  12  * FSM STATES DECLARATION
  13  ************************************************************************/
  14 FSM_STATE_DECL(survey);
  15 FSM_STATE_DECL(approach_target);
  16 FSM_STATE_DECL(move_around);
  17 FSM_STATE_DECL(go_home);
  18
  19 void set_initial_position(void);
  20 void actuators_home(void);
  21 bool goal_is_in_playground(double goalx, double goaly);
  22 bool close_goal(double goalx, double goaly);
  23 void get_approach_point(double xtarget, double ytarget, double *xapproach, double *yapproach, double *phi_approach);
  24 double get_approach_angle(double xtarget, double ytarget);
  25
  26 #endif