traj circle

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager.h

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.h b/modules/devices/robot/trajectory_manager/trajectory_manager.h
index 648ec1c..3ebd586 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.h
@@ -47,6 +47,15 @@ enum trajectory_state {
        RUNNING_CIRCLE,
 };
 
        RUNNING_CIRCLE,
 };
 

+struct circle_target {
+       vect2_cart center;   /**< center of the circle */
+       double radius;       /**< radius of the circle */
+       int32_t dest_angle;  /**< dst angle in inc */
+
+#define TRIGO   1 /* rotation is counterclockwise */
+#define FORWARD 2 /* go forward or backward */
+       uint8_t flags;   /**< flags for this trajectory */
+};

 
 struct trajectory {
        enum trajectory_state state; /*<< describe the type of target, and if we reached the target */
 
 struct trajectory {
        enum trajectory_state state; /*<< describe the type of target, and if we reached the target */


@@ -54,6 +63,7 @@ struct trajectory {
        union {
                vect2_cart cart;     /**<< target, if it is a x,y vector */
                struct rs_polar pol; /**<< target, if it is a d,a vector */
        union {
                vect2_cart cart;     /**<< target, if it is a x,y vector */
                struct rs_polar pol; /**<< target, if it is a d,a vector */

+               struct circle_target circle; /**<< target, if it is a circle */

        } target;
 
        double d_win;      /**<< distance window (for END_NEAR) */
        } target;
 
        double d_win;      /**<< distance window (for END_NEAR) */


@@ -160,4 +170,10 @@ void trajectory_goto_d_a_rel(struct trajectory *traj, double d, double a);
 /** go forward to a x,y relative point, using a trajectory event */
 void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm);
 
 /** go forward to a x,y relative point, using a trajectory event */
 void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm);
 

+/** make the robot orbiting around (x,y) on a circle whose radius is
+ * radius_mm, and exit when relative destination angle is reached. The
+ * flags set if we go forward or backwards, and CW/CCW. */
+void trajectory_circle_rel(struct trajectory *traj, double x, double y,
+                          double radius_mm, double rel_a_deg, uint8_t flags);
+

 #endif //TRAJECTORY_MANAGER
 #endif //TRAJECTORY_MANAGER