2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: trajectory_manager.h,v 1.4.4.10 2009-05-02 10:03:04 zer0 Exp $
22 #ifndef TRAJECTORY_MANAGER
23 #define TRAJECTORY_MANAGER
27 #include <robot_system.h>
29 enum trajectory_state {
32 /* simple trajectories */
37 /* trajectories using events */
43 RUNNING_XY_F_ANGLE_OK,
46 RUNNING_XY_B_ANGLE_OK,
50 struct circle_target {
51 vect2_cart center; /**< center of the circle */
52 double radius; /**< radius of the circle */
53 int32_t dest_angle; /**< dst angle in inc */
55 #define TRIGO 1 /* rotation is counterclockwise */
56 #define FORWARD 2 /* go forward or backward */
57 uint8_t flags; /**< flags for this trajectory */
61 enum trajectory_state state; /*<< describe the type of target, and if we reached the target */
64 vect2_cart cart; /**<< target, if it is a x,y vector */
65 struct rs_polar pol; /**<< target, if it is a d,a vector */
66 struct circle_target circle; /**<< target, if it is a circle */
69 double d_win; /**<< distance window (for END_NEAR) */
70 double a_win_rad; /**<< angle window (for END_NEAR) */
71 double a_start_rad;/**<< in xy consigns, start to move in distance
72 * when a_target < a_start */
73 double circle_coef;/**<< corrective circle coef */
75 uint16_t d_speed; /**<< distance speed consign */
76 uint16_t a_speed; /**<< angle speed consign */
78 struct robot_position *position; /**<< associated robot_position */
79 struct robot_system *robot; /**<< associated robot_system */
80 struct cs *csm_angle; /**<< associated control system (angle) */
81 struct cs *csm_distance; /**<< associated control system (distance) */
83 int8_t scheduler_task; /**<< id of current task (-1 if no running task) */
86 /** structure initialization */
87 void trajectory_init(struct trajectory *traj);
89 /** structure initialization */
90 void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
93 /** structure initialization */
94 void trajectory_set_robot_params(struct trajectory *traj,
95 struct robot_system *rs,
96 struct robot_position *pos) ;
98 /** set speed consign */
99 void trajectory_set_speed(struct trajectory *traj, int16_t d_speed, int16_t a_speed);
102 * set windows for trajectory.
103 * params: distance window, angle window: we the robot enters this
104 * position window, we deletes the event and the last consign is
106 * a_start_deg used in xy consigns (start to move in distance when
107 * a_target < a_start)
109 void trajectory_set_windows(struct trajectory *traj, double d_win,
110 double a_win_deg, double a_start_deg);
113 * Set coef for circle trajectory. The objective of this value is to
114 * fix the radius of the circle which is not correctly what we asked.
116 void trajectory_set_circle_coef(struct trajectory *traj, double coef);
118 /** return true if the position consign is equal to the filtered
119 * position consign (after quadramp filter), for angle and
121 uint8_t trajectory_finished(struct trajectory *traj);
123 /** return true if traj is nearly finished depending on specified
125 uint8_t trajectory_in_window(struct trajectory *traj, double d_win, double a_win_rad);
127 /* simple commands */
129 /** set relative angle and distance consign to 0 */
130 void trajectory_stop(struct trajectory *traj);
132 /** set relative angle and distance consign to 0, and break any
133 * deceleration ramp in quadramp filter */
134 void trajectory_hardstop(struct trajectory *traj);
136 /** go straight forward (d is in mm) */
137 void trajectory_d_rel(struct trajectory *traj, double d_mm);
139 /** update distance consign without changing angle consign */
140 void trajectory_only_d_rel(struct trajectory *traj, double d_mm);
142 /** turn by 'a' degrees */
143 void trajectory_a_rel(struct trajectory *traj, double a_deg);
145 /** go to angle 'a' in degrees */
146 void trajectory_a_abs(struct trajectory *traj, double a_deg);
148 /** turn the robot until the point x,y is in front of us */
149 void trajectory_turnto_xy(struct trajectory*traj, double x_abs_mm, double y_abs_mm);
151 /** turn the robot until the point x,y is behind us */
152 void trajectory_turnto_xy_behind(struct trajectory*traj, double x_abs_mm, double y_abs_mm);
154 /** update angle consign without changing distance consign */
155 void trajectory_only_a_rel(struct trajectory *traj, double a_deg);
157 /** update angle consign without changing distance consign */
158 void trajectory_only_a_abs(struct trajectory *traj, double a_deg);
160 /** turn by 'a' degrees and go by 'd' mm */
161 void trajectory_d_a_rel(struct trajectory *traj, double d_mm, double a_deg);
163 /* commands using events */
165 /** goto a x,y point, using a trajectory event */
166 void trajectory_goto_xy_abs(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
168 /** go forward to a x,y point, using a trajectory event */
169 void trajectory_goto_forward_xy_abs(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
171 /** go backward to a x,y point, using a trajectory event */
172 void trajectory_goto_backward_xy_abs(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
174 /** go forward to a d,a point, using a trajectory event */
175 void trajectory_goto_d_a_rel(struct trajectory *traj, double d, double a);
177 /** go forward to a x,y relative point, using a trajectory event */
178 void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_rel_mm);
180 /** make the robot orbiting around (x,y) on a circle whose radius is
181 * radius_mm, and exit when relative destination angle is reached. The
182 * flags set if we go forward or backwards, and CW/CCW. */
183 void trajectory_circle_rel(struct trajectory *traj, double x, double y,
184 double radius_mm, double rel_a_deg, uint8_t flags);
186 #endif //TRAJECTORY_MANAGER