double a_win_rad; /**<< angle window (for END_NEAR) */
double a_start_rad;/**<< in xy consigns, start to move in distance
* when a_target < a_start */
-
+ double circle_coef;/**<< corrective circle coef */
+
uint16_t d_speed; /**<< distance speed consign */
uint16_t a_speed; /**<< angle speed consign */
struct robot_system *robot; /**<< associated robot_system */
struct cs *csm_angle; /**<< associated control system (angle) */
struct cs *csm_distance; /**<< associated control system (distance) */
-
+
int8_t scheduler_task; /**<< id of current task (-1 if no running task) */
};
void trajectory_set_windows(struct trajectory *traj, double d_win,
double a_win_deg, double a_start_deg);
+/**
+ * Set coef for circle trajectory. The objective of this value is to
+ * fix the radius of the circle which is not correctly what we asked.
+ */
+void trajectory_set_circle_coef(struct trajectory *traj, double coef);
+
/** return true if the position consign is equal to the filtered
* position consign (after quadramp filter), for angle and
* distance. */