movehelper.cc File Reference

Convenience functions for motion control. More...

#include <trgen.h>
#include "robodata.h"
#include <robot.h>
#include <movehelper.h>
#include <path_simplifier.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <math.h>
#include <map.h>
#include <robomath.h>
#include <mcl_robot.h>
#include <string.h>
#include <ul_log.h>

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Functions
	UL_LOG_CUST (ulogd_movehelper)
void	robot_trajectory_new (struct TrajectoryConstraints *tc)
	Initializes new trajectory object for adding points.
void	robot_trajectory_new_backward (struct TrajectoryConstraints *tc)
void	robot_set_est_pos_notrans (double x, double y, double phi)
	Sets actual position of the robot and with respoect to color of the team.
void	robot_trajectory_add_point_notrans (double x_m, double y_m)
	Adds point in absolute coordinates to previously initialized trajectory object.
bool	get_arrive_from_point (double target_x_m, double target_y_m, struct move_target_heading heading, double *point_x_m, double *point_y_m)
void	robot_trajectory_add_final_point_notrans (double x_m, double y_m, struct move_target_heading heading)
	Adds final point to trajectory objects and starts robot movement.
void	robot_stop ()
	Stops actual movement.
void	robot_send_speed (double left, double right)
void	robot_goto_notrans (double x, double y, struct move_target_heading heading, struct TrajectoryConstraints *tc)
	Makes move the robot to a target position.
void	robot_moveto_notrans (double x, double y, struct move_target_heading heading, struct TrajectoryConstraints *tc)
	Move to a point using straight line trajectory.
void	robot_move_by (double distance, struct move_target_heading heading, struct TrajectoryConstraints *tc)
	Move robot forward or backward.
Variables
struct TrajectoryConstraints	trajectoryConstraintsDefault
bool	init_ekf_flag = false

---

Detailed Description

Convenience functions for motion control.

Author:

Michal Sojka

Date:

Wed Jun 13 13:27:58 2007

---

Function Documentation

bool get_arrive_from_point	(	double	target_x_m,
		double	target_y_m,
		struct move_target_heading	heading,
		double *	point_x_m,
		double *	point_y_m
	)

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void robot_goto_notrans	(	double	x,
		double	y,
		struct move_target_heading	heading,
		struct TrajectoryConstraints *	tc
	)

Makes move the robot to a target position.

Go to a point using path planning to avoid apriori known obstacles.

Use path panner to find the trajectory. This function is intended to be called from main FSM.

Parameters:

	x	X coordinate in meters.
	y	Y coordinate in meters.
	heading	Desired heading of the robot at goal point.

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void robot_move_by	(	double	distance,
		struct move_target_heading	heading,
		struct TrajectoryConstraints *	tc
	)

Move robot forward or backward.

Parameters:

	distance	Distance in meters ( >0 forward, <0 backward)
	heading	Final heading
	tc	Trajectory constrains

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void robot_moveto_notrans	(	double	x,
		double	y,
		struct move_target_heading	heading,
		struct TrajectoryConstraints *	tc
	)

Move to a point using straight line trajectory.

If ARIVE_FROM is set, then the trajectory will be composed two lines.... TODO

void robot_send_speed	(	double	left,
		double	right
	)

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void robot_set_est_pos_notrans	(	double	x,
		double	y,
		double	phi
	)

Sets actual position of the robot and with respoect to color of the team.

Should be used for setting initial position of the robot.

void robot_stop

(

)

Stops actual movement.

Stop robot immediately.

void robot_trajectory_add_final_point_notrans	(	double	x_m,
		double	y_m,
		struct move_target_heading	heading
	)

Adds final point to trajectory objects and starts robot movement.

Parameters:

	x_m	X coordinate in meters.
	y_m	Y coordinate in meters.
	heading	Desired heading (in degrees) of the robot in this point. NAN means don't care. Positive number or zero means turn counter-clockwise, negative number means turn clockwise. Example: DEG2RAD(90) means turn up counter-clockwise and DEG2RAD(-270) means turn up clockwise.

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void robot_trajectory_add_point_notrans	(	double	x_m,
		double	y_m
	)

Adds point in absolute coordinates to previously initialized trajectory object.

Parameters:

	x_m	X coordinate in meters.
	y_m	Y coordinate in meters.

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void robot_trajectory_new

(

struct TrajectoryConstraints *

tc

)

Initializes new trajectory object for adding points.

Path planner will not be used.

Parameters:

tc

Constrains for the trajectory.

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void robot_trajectory_new_backward

(

struct TrajectoryConstraints *

tc

)

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UL_LOG_CUST

(

ulogd_movehelper

)

---

Variable Documentation

bool init_ekf_flag = false

struct TrajectoryConstraints trajectoryConstraintsDefault

Initial value:

 {
        maxv: 1,                
        maxomega: 1,            
        maxangacc: 1,           
        maxacc: 1,              
        maxcenacc: 1,           
        maxe: (double)ROBOT_WIDTH_MM/2.0/1000.0 
}