LaserNavigation.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------






/* @{ */


#ifndef __LAS_NAV_H
#define __LAS_NAV_H

#include <Spaces.h>
#include <Scan.h>

using namespace MipBaselib;

class LaserNavigationIn{
 public:
  Scan scan;
  bool laserNotResp;
 
  LaserNavigationIn(Scan sc, bool noResp){
   scan = sc;
   laserNotResp  = noResp;
  }
 
  inline void assignMinReadings(Scan sc){
   scan = sc;
  }
 
  inline void assignlaserNotResp(bool notResp){
   laserNotResp = notResp;
  }
};

class LaserNavigationParams {
 public:
  Decimal freeDist; // 1 m distanza a cui voglio la velocità massima
  Decimal safeDistFree; //
  Decimal safeDistLocked;
  Decimal scaleV;
  Decimal scaleW;
/*  int   minCmdOn; // minimo comando per fermarsi 
  int   maxCmd; // max cmd da dare ai motori 
  int   minCmd; // minimo comando per ripartire*/
  Decimal maxAccel;  
  Decimal maxJogAccelRatio;
 
  LaserNavigationParams();
};

class LaserNavigationVars {
 public:
 
  bool deadlock;
  Decimal oldTurnrate;
  Decimal oldSpeed;
 
  LaserNavigationVars(){
   deadlock = false;
   oldTurnrate = 0.0;
   oldSpeed = 0.0;
   /*init vars*/
  }
};


class LaserNavigation {
 private:
  LaserNavigationVars   vars;
  LaserNavigationParams params;
 public:
  LaserNavigation(){
   vars.deadlock = false;
   vars.oldTurnrate = 0.0;
   vars.oldSpeed = 0.0;
  }
 
  LaserNavigation(LaserNavigationParams inParams){
   params = inParams;
  }
 
  Position step(LaserNavigationIn);
};





#endif


/* @} */