#include <robot.h>
#include <trgenconstr.h>
#include <math.h>
#include <stdbool.h>

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Classes
struct	move_target_heading
struct	move_target
Defines
#define	TURN(heading) __target_heading(TOP_TURN_SHORTEST, (heading), 0)
#define	TURN_CW(heading) __target_heading(TOP_TURN_CW, (heading), 0)
#define	TURN_CCW(heading) __target_heading(TOP_TURN_CCW, (heading), 0)
#define	NO_TURN() __target_heading(TOP_DONT_TURN, 0, 0)
#define	ARRIVE_FROM(heading, dist) __target_heading(TOP_ARRIVE_FROM, (heading), (dist))
#define	robot_set_est_pos_trans(x, y, phi) robot_set_est_pos_notrans(__trans_x(x), __trans_y(y), __trans_ang(phi))
#define	robot_trajectory_add_point_trans(x, y) robot_trajectory_add_point_notrans(__trans_x(x), __trans_y(y))
#define	robot_trajectory_add_final_point_trans(x, y, heading) robot_trajectory_add_final_point_notrans(__trans_x(x), __trans_y(y), __trans_heading(heading))
#define	robot_goto_trans(x, y, heading, tc) robot_goto_notrans(__trans_x(x), __trans_y(y), __trans_heading(heading), tc)
#define	robot_moveto_trans(x, y, heading, tc) robot_goto_notrans(__trans_x(x), __trans_y(y), __trans_heading(heading), tc)
#define	robot_move_by_trans(distance, heading, tc) robot_move_by(distance, __trans_heading(heading), tc)
Enumerations
enum	move_target_op { TOP_DONT_TURN, TOP_TURN_CW, TOP_TURN_CCW, TOP_TURN_SHORTEST, TOP_ARRIVE_FROM }
Functions
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_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_send_speed (double left, double right)
void	robot_trajectory_new (struct TrajectoryConstraints *tc)
	Initializes new trajectory object for adding points.
void	robot_trajectory_new_backward (struct TrajectoryConstraints *tc)
void	robot_trajectory_add_point_notrans (double x_m, double y_m)
	Adds point in absolute coordinates to previously initialized trajectory object.
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 ()
	Stop robot immediately.
void	robot_goto_notrans (double x, double y, struct move_target_heading heading, struct TrajectoryConstraints *tc)
	Go to a point using path planning to avoid apriori known obstacles.
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

Define Documentation

#define ARRIVE_FROM	(	heading,
		dist
	)		__target_heading(TOP_ARRIVE_FROM, (heading), (dist))

#define NO_TURN ( ) __target_heading(TOP_DONT_TURN, 0, 0)

#define robot_goto_trans	(	x,
		y,
		heading,
		tc
	)		robot_goto_notrans(__trans_x(x), __trans_y(y), __trans_heading(heading), tc)

#define robot_move_by_trans	(	distance,
		heading,
		tc
	)		robot_move_by(distance, __trans_heading(heading), tc)

#define robot_moveto_trans	(	x,
		y,
		heading,
		tc
	)		robot_goto_notrans(__trans_x(x), __trans_y(y), __trans_heading(heading), tc)

#define robot_set_est_pos_trans	(	x,
		y,
		phi
	)		robot_set_est_pos_notrans(__trans_x(x), __trans_y(y), __trans_ang(phi))

#define robot_trajectory_add_final_point_trans	(	x,
		y,
		heading
	)		robot_trajectory_add_final_point_notrans(__trans_x(x), __trans_y(y), __trans_heading(heading))

#define robot_trajectory_add_point_trans	(	x,
		y
	)		robot_trajectory_add_point_notrans(__trans_x(x), __trans_y(y))

#define TURN ( heading ) __target_heading(TOP_TURN_SHORTEST, (heading), 0)

#define TURN_CCW ( heading ) __target_heading(TOP_TURN_CCW, (heading), 0)

#define TURN_CW ( heading ) __target_heading(TOP_TURN_CW, (heading), 0)

Enumeration Type Documentation

enum move_target_op

Enumerator:

TOP_DONT_TURN
TOP_TURN_CW
TOP_TURN_CCW
TOP_TURN_SHORTEST
TOP_ARRIVE_FROM

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
	)

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 ( )

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.