trajectory manager rework

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

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.h b/modules/devices/robot/trajectory_manager/trajectory_manager_core.h
new file mode 100644 (file)
index 0000000..a724f69
--- /dev/null
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.h
@@ -0,0 +1,113 @@
+/*
+ *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: trajectory_manager.c,v 1.4.4.17 2009-05-18 12:28:36 zer0 Exp $
+ *
+ */
+
+/* Trajectory Manager v3 - zer0 - for Eurobot 2010 */
+
+/**
+ * update angle and/or distance
+ * this function is not called directly by the user
+ *   traj  : pointer to the trajectory structure
+ *   d_mm  : distance in mm
+ *   a_rad : angle in radian
+ *   flags : what to update (UPDATE_A, UPDATE_D)
+ */
+void __trajectory_goto_d_a_rel(struct trajectory *traj, double d_mm,
+                              double a_rad, uint8_t state, uint8_t flags);
+
+/** go straight forward (d is in mm) */
+void trajectory_d_rel(struct trajectory *traj, double d_mm);
+
+/** update distance consign without changing angle consign */
+void trajectory_only_d_rel(struct trajectory *traj, double d_mm);
+
+/** turn by 'a' degrees */
+void trajectory_a_rel(struct trajectory *traj, double a_deg_rel);
+
+/** turn by 'a' degrees */
+void trajectory_a_abs(struct trajectory *traj, double a_deg_abs);
+
+/** turn the robot until the point x,y is in front of us */
+void trajectory_turnto_xy(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
+
+
+/** turn the robot until the point x,y is behind us */
+void trajectory_turnto_xy_behind(struct trajectory *traj, double x_abs_mm, double y_abs_mm);
+
+
+/** update angle consign without changing distance consign */
+void trajectory_only_a_rel(struct trajectory *traj, double a_deg);
+
+/** update angle consign without changing distance consign */
+void trajectory_only_a_abs(struct trajectory *traj, double a_deg_abs);
+
+
+/** turn by 'a' degrees */
+void trajectory_d_a_rel(struct trajectory *traj, double d_mm, double a_deg);
+
+/** set relative angle and distance consign to 0 */
+void trajectory_stop(struct trajectory *traj);
+
+/** set relative angle and distance consign to 0, and break any
+ * deceleration ramp in quadramp filter */
+void trajectory_hardstop(struct trajectory *traj);
+
+
+/************ GOTO XY, USE EVENTS */
+
+/** goto a x,y point, using a trajectory event */
+void trajectory_goto_xy_abs(struct trajectory *traj, double x, double y);
+
+/** go forward to a x,y point, using a trajectory event */
+void trajectory_goto_forward_xy_abs(struct trajectory *traj, double x, double y);
+
+/** go backward to a x,y point, using a trajectory event */
+void trajectory_goto_backward_xy_abs(struct trajectory *traj, double x, double y);
+
+/** go forward to a d,a point, using a trajectory event */
+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);
+
+/************ FUNCS FOR GETTING TRAJ STATE */
+
+/** return true if the position consign is equal to the filtered
+ * position consign (after quadramp filter), for angle and
+ * distance. */
+uint8_t trajectory_finished(struct trajectory *traj);
+
+/** return true if traj is nearly finished */
+uint8_t trajectory_in_window(struct trajectory *traj, double d_win, double a_win_rad);
+
+/*********** *TRAJECTORY EVENT FUNC */
+
+/** event called for xy trajectories */
+void trajectory_manager_xy_event(struct trajectory *traj);
+
+/* trajectory event for circles */
+void trajectory_manager_circle_event(struct trajectory *traj);
+
+/* trajectory event */
+void trajectory_manager_event(void * param);
+
+/*********** *CIRCLE */
+
+/* XXX TODO */