X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.h;h=b5a13957e53659c8d20042f2e560837237ff0726;hp=a724f695beaeeaf1fe63428f61a68a2c809cd77f;hb=6914527de2ecfef9d790740c71739e7418246b96;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.h b/modules/devices/robot/trajectory_manager/trajectory_manager_core.h
index a724f69..b5a1395 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.h
@@ -111,3 +111,33 @@ void trajectory_manager_event(void * param);
 /*********** *CIRCLE */
 
 /* XXX TODO */
+
+/*********** CLITOID */
+
+/**
+ * do a superb curve joining line1 to line2 which is composed of:
+ *   - a clothoid starting from line1
+ *   - a circle
+ *   - another clothoid up to line2
+ * this curve is called a clitoid (hehe)
+ *
+ * the function assumes that the initial linear speed is Vd and
+ * angular speed is 0.
+ *
+ * - x,y,a: starting position
+ * - advance: parameter for line following
+ * - alpha: total angle
+ * - beta: circular part of angle (lower than alpha)
+ * - R: the radius of the circle (must be != 0)
+ * - Vd: linear speed to use (in imp per cs period)
+ * - Amax: maximum angular acceleration
+ * - d_inter: distance in mm until the intersection of the
+ *            2 lines
+ *
+ * return 0 if trajectory can be loaded, then it is processed in
+ * background.
+ */
+int8_t trajectory_clitoid(struct trajectory *traj,
+			  double x, double y, double a, double advance,
+			  double alpha_deg, double beta_deg, double R_mm,
+			  double d_inter_mm);