Last change
on this file since 378 was 377, checked in by Sanahuja Guillaume, 3 years ago |
ugv update
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Property svn:eol-style
set to
native
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File size:
1.3 KB
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[376] | 1 | // created: 2020/12/09
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| 2 | // filename: CircleFollower.h
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: demo cercle avec optitrack
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #ifndef CIRCLEFOLLOWER_H
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| 15 | #define CIRCLEFOLLOWER_H
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| 16 |
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| 17 | #include <Thread.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace gui {
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| 21 | class PushButton;
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| 22 | }
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| 23 | namespace filter {
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| 24 | class TrajectoryGenerator2DCircle;
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[377] | 25 | class Pid;
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[376] | 26 | }
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| 27 | namespace meta {
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| 28 | class MetaVrpnObject;
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| 29 | }
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| 30 | namespace sensor {
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| 31 | class TargetController;
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| 32 | }
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| 33 | }
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| 34 |
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| 35 | class CircleFollower : public flair::core::Thread {
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| 36 | public:
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| 37 | CircleFollower(std::string name,flair::sensor::TargetController *controller);
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| 38 | ~CircleFollower();
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| 39 |
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| 40 | private:
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| 41 |
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| 42 | enum class BehaviourMode_t {
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| 43 | Default,
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| 44 | Circle
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| 45 | };
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| 46 |
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| 47 | BehaviourMode_t behaviourMode;
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| 48 | bool vrpnLost;
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| 49 | flair::sensor::TargetController *controller;
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| 50 |
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| 51 | void Run(void);
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| 52 | void StartCircle(void);
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| 53 | void StopCircle(void);
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| 54 |
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| 55 | flair::filter::Pid *uX, *uY;
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| 56 |
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| 57 | flair::gui::PushButton *startCircle,*stopCircle,*button_kill;
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[377] | 58 | flair::meta::MetaVrpnObject *targetVrpn,*ugvVrpn;
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[376] | 59 | flair::filter::TrajectoryGenerator2DCircle *circle;
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[377] | 60 |
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[376] | 61 | };
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| 62 |
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| 63 | #endif // CIRCLEFOLLOWER_H
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