+ int32_t d_consign = 0, a_consign = 0;
+ double angle_to_center_rad;
+ double coef_p, coef_d;
+ double d_speed, a_speed;
+
+ /* These vectors contain target position of the robot in
+ * its own coordinates */
+ vect2_cart v2cart_pos;
+ vect2_pol v2pol_target;
+
+ /* step 1 : process new commands to quadramps */
+
+ /* process the command vector from current position to the
+ * center of the circle. */
+ v2cart_pos.x = traj->target.circle.center.x - x;
+ v2cart_pos.y = traj->target.circle.center.y - y;
+ vect2_cart2pol(&v2cart_pos, &v2pol_target);
+ v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
+
+ /* radius consign */
+ radius = traj->target.circle.radius;
+
+ coef_p = v2pol_target.r / radius;
+ coef_p = 1. * coef_p;
+
+ angle_to_center_rad = v2pol_target.theta - (M_PI / 2.);
+ angle_to_center_rad = simple_modulo_2pi(angle_to_center_rad);
+ if (angle_to_center_rad > 0.5)
+ angle_to_center_rad = 0.5;
+ if (angle_to_center_rad < -0.5)
+ angle_to_center_rad = -0.5;
+ coef_d = exp(5*angle_to_center_rad);
+ coef_d = coef_d;
+
+ circle_get_da_speed_from_radius(traj, radius / (coef_p * coef_d),
+ &d_speed, &a_speed);
+ set_quadramp_speed(traj, d_speed, a_speed);
+
+ EVT_DEBUG(E_TRAJECTORY, "angle=%2.2f radius=%2.2f r=%2.2f coef_p=%2.2f coef_d=%2.2f "
+ "d_speed=%2.2f a_speed=%2.2f",
+ angle_to_center_rad, radius, v2pol_target.r,
+ coef_p, coef_d, d_speed, a_speed);
+
+ /* XXX check flags */
+ d_consign = 400000 + rs_get_distance(traj->robot);
+ a_consign = 400000 + rs_get_angle(traj->robot);
+
+ /* angle consign */
+/* a_consign = (int32_t)(v2pol_target.theta * */
+/* (traj->position->phys.distance_imp_per_mm) * */
+/* (traj->position->phys.track_mm) / 2.0); */
+/* a_consign += rs_get_angle(traj->robot); */
+
+ /* step 2 : update state, or delete event if we reached the
+ * destination */
+
+/* /\* output angle -> delete event *\/ */
+/* if (a_consign >= traj->target.circle.dest_angle) { */
+/* a_consign = traj->target.circle.dest_angle; */
+/* delete_event(traj); */
+/* } */
+
+ /* step 3 : send the processed commands to cs */
+
+/* EVT_DEBUG(E_TRAJECTORY,"EVENT CIRCLE d_cur=%" PRIi32 ", d_consign=%" PRIi32 */
+/* ", d_speed=%" PRIi32 ", a_cur=%" PRIi32 ", a_consign=%" PRIi32 */
+/* ", a_speed=%" PRIi32 ", radius = %f", */
+/* rs_get_distance(traj->robot), d_consign, get_quadramp_distance_speed(traj), */
+/* rs_get_angle(traj->robot), a_consign, get_quadramp_angle_speed(traj), */
+/* radius); */
+
+ cs_set_consign(traj->csm_angle, a_consign);
+ cs_set_consign(traj->csm_distance, d_consign);
+}
+
+/* trajectory event for lines */
+static void trajectory_manager_line_event(struct trajectory *traj)
+{
+ double x = position_get_x_double(traj->position);
+ double y = position_get_y_double(traj->position);
+ double a = position_get_a_rad_double(traj->position);
+ double advance, dist_to_line;
+ point_t robot, proj, target_pt;
+ int32_t d_consign = 0, a_consign = 0;
+ vect2_cart v2cart_pos;
+ vect2_pol v2pol_target;
+
+ robot.x = x;
+ robot.y = y;
+
+ /* target point on the line is further on the line */
+ proj_pt_line(&robot, &traj->target.line.line, &proj);
+ dist_to_line = pt_norm(&robot, &proj);
+ if (dist_to_line > traj->target.line.advance)
+ advance = 0;
+ else
+ advance = traj->target.line.advance - dist_to_line;
+ target_pt.x = proj.x + advance * cos(traj->target.line.angle);
+ target_pt.y = proj.y + advance * sin(traj->target.line.angle);
+
+ /* target vector */
+ v2cart_pos.x = target_pt.x - x;
+ v2cart_pos.y = target_pt.y - y;
+ vect2_cart2pol(&v2cart_pos, &v2pol_target);
+ v2pol_target.theta = simple_modulo_2pi(v2pol_target.theta - a);
+
+ /* If the robot is correctly oriented to start moving in distance */
+ /* here limit dist speed depending on v2pol_target.theta */
+ if (ABS(v2pol_target.theta) > traj->a_start_rad) // || ABS(v2pol_target.r) < traj->d_win)
+ set_quadramp_speed(traj, 0, traj->a_speed);
+ else {
+ double coef;
+ coef = (traj->a_start_rad - ABS(v2pol_target.theta)) / traj->a_start_rad;
+ set_quadramp_speed(traj, traj->d_speed * coef, traj->a_speed);
+ }
+
+ /* position consign is infinite */
+ d_consign = (int32_t)(v2pol_target.r * (traj->position->phys.distance_imp_per_mm));
+ d_consign += rs_get_distance(traj->robot);
+
+ /* angle consign */
+ a_consign = (int32_t)(v2pol_target.theta *
+ (traj->position->phys.distance_imp_per_mm) *
+ (traj->position->phys.track_mm) / 2.2);
+ a_consign += rs_get_angle(traj->robot);
+
+ EVT_DEBUG(E_TRAJECTORY, "target.x=%2.2f target.y=%2.2f "
+ "a_consign=%"PRIi32" d_consign=%"PRIi32,
+ target_pt.x, target_pt.y, a_consign, d_consign);
+
+ cs_set_consign(traj->csm_angle, a_consign);
+ cs_set_consign(traj->csm_distance, d_consign);