Last change
on this file since 435 was 435, checked in by Sanahuja Guillaume, 3 years ago |
add logs to ugv
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Property svn:eol-style
set to
native
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File size:
1.6 KB
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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 | class DoubleSpinBox;
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23 | }
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24 | namespace filter {
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25 | class TrajectoryGenerator2DCircle;
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26 | class Pid;
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27 | }
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28 | namespace meta {
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29 | class MetaVrpnObject;
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30 | }
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31 | namespace sensor {
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32 | class TargetController;
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33 | }
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34 | }
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35 |
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36 | class CircleFollower : public flair::core::Thread {
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37 | public:
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38 | CircleFollower(std::string name,flair::sensor::TargetController *controller);
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39 | ~CircleFollower();
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40 |
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41 | private:
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42 |
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43 | enum class BehaviourMode_t {
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44 | Manual,
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45 | Circle
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46 | };
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47 |
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48 | void Run(void);
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49 | void StartCircle(void);
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50 | void StopCircle(void);
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51 | void ComputeManualControls(void);
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52 | void ComputeCircleControls(void);
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53 | void SecurityCheck(void);
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54 | void CheckJoystick(void);
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55 | void CheckPushButton(void);
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56 |
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57 | flair::filter::Pid *uX, *uY;
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58 | flair::gui::PushButton *startCircle,*stopCircle,*button_kill,*button_start_log,*button_stop_log;
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59 | flair::gui::DoubleSpinBox *l;
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60 | flair::meta::MetaVrpnObject *targetVrpn,*ugvVrpn;
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61 | flair::filter::TrajectoryGenerator2DCircle *circle;
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62 | BehaviourMode_t behaviourMode;
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63 | bool vrpnLost;
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64 | flair::sensor::TargetController *controller;
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65 | };
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66 |
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67 | #endif // CIRCLEFOLLOWER_H
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