/ru/robot/robot.h

  1#ifndef ROBOT_H
  2#define ROBOT_H
  3
  4#include <QPointF>
  5#include <QReadWriteLock>
  6#include <QDebug>
  7#include <cmath>
  8#include "ru/gui/map_widget.h"
  9#include "ru/utils/angle.h"
 10
 11//! ???? ????? ????????
 12enum point_state{
 13        ps_none = 0,
 14        ps_old = 1,
 15        ps_current = 2,
 16        ps_new = 3
 17};
 18
 19// ???????? ????????? ????? ??????
 20// ??? ???????? ? ?????? ? ????????
 21class RobotDescription {
 22public:
 23    float wheel_left_length;
 24    float wheel_right_length;
 25
 26    float chasis_width_d2;  // ???????? ?????????? ????? ????????
 27
 28    float steps_count;    // ????? ???????? ?? ??????
 29
 30    RobotDescription() {
 31        wheel_left_length = 1;
 32        wheel_right_length = 1;
 33        chasis_width_d2 = 0.5;
 34        steps_count = 32;
 35    }
 36    RobotDescription(float wheel_l, float wheel_r, float width_d2, float steps_count) {
 37        RobotDescription::wheel_left_length    = wheel_l;
 38        RobotDescription::wheel_right_length   = wheel_r;
 39        RobotDescription::chasis_width_d2      = width_d2;
 40        RobotDescription::steps_count          = steps_count;
 41    }
 42};
 43
 44//! ??????? ??????
 45class RobotPosition {
 46public:
 47    float x;
 48    float y;
 49    float a;
 50    float speed;    //!< ???????? ? ?/?
 51    RobotPosition() {
 52        x = 0;
 53        y = 0;
 54        a = 0;
 55        speed = 0;
 56    }
 57
 58    RobotPosition(float x, float y, float ang, float speed = 0.0f) {
 59        RobotPosition::x = x;
 60        RobotPosition::y = y;
 61        RobotPosition::a = ang;
 62        RobotPosition::speed = speed;
 63    }
 64
 65    inline operator QPointF() const {
 66        return QPointF(x,y);
 67    }
 68
 69    inline float distanceTo(const RobotPosition& pos)
 70    {
 71        return sqrt(sqr(pos.x-x)+sqr(pos.y-y));
 72    }
 73};
 74
 75
 76//-----------------------------------------------------
 77//! Gozel desc
 78class robot_gozel_description {
 79public:
 80    float chassis_lenght;   //!< ????? ???????? ????
 81    float chassis_width;    //!< ?????? ???????? ????
 82
 83    float wheel_length;     //!< ????? ??????
 84
 85    float steps_count;      //!< ????? ???????? ?? ?????? ??????
 86
 87    robot_gozel_description() {
 88        chassis_lenght = 2.9f;
 89        chassis_width = 1.6f;
 90        wheel_length = 2.101f;
 91        steps_count = 32.0;
 92    }
 93    robot_gozel_description(float lenght, float width, float wheel_length, float steps_count) {
 94        robot_gozel_description::chassis_lenght  = lenght;
 95        robot_gozel_description::chassis_width   = width;
 96        robot_gozel_description::wheel_length    = wheel_length;
 97        robot_gozel_description::steps_count     = steps_count;
 98    }
 99};
100
101//---------------------------------------------------------------------------------------------------------
102//! ????? ????????
103class Waypoint {
104public:
105        // ?????????
106        RobotPosition pos;
107
108        // ??????. ????? ?????? ??? ????????? ??? ???
109        point_state attr;      // 0 - ??? 1 - ????????? 2 - ??????? 3 - ?????
110        // tag
111        int point_tag;
112
113        Waypoint();
114        Waypoint(const RobotPosition& pos, point_state attr = ps_new);
115};
116
117//! ??? ??????????
118typedef std::vector<Waypoint> WaypointList;
119
120
121#endif // ROBOT_H