Object Oriented Mobile Robot Model (OOMRM) C++ Library 4.1

00001 /*
00002 Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2006  Derek Jones
00003 
00004 This library is free software; you can redistribute it  and/or
00005 modify it under the terms of the GNU Lesser General Public
00006 License  as published by the Free Software Foundation; either
00007 version 2.1 of the  License, or (at your option) any later version.
00008 
00009 This library is  distributed in the hope that it will be useful,
00010 but WITHOUT ANY WARRANTY;  without even the implied warranty of
00011 MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
00012 Lesser General Public License for more  details.
00013 
00014 You should have received a copy of the GNU Lesser General  Public
00015 License along with this library; if not, write to the Free  Software
00016 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA
00017 
00018  * $Id: invariant.h,v 1.3 2006/06/07 00:58:39 derek Exp $
00019 */
00020 #ifndef _INVARIANT_H
00021 #define _INVARIANT_H
00022 #include <host/sgrid.h>
00023 #include <pose.h>
00024 #include <utility/fixedpoint.h>
00025 #define MILLIMETER_FLOAT float
00026 
00027 
00030 class invariant : public SGrid
00031 {
00032 public:
00033   invariant(void);
00034   invariant(MILLIMETER_FLOAT,MILLIMETER_FLOAT,RADIAN); 
00035   static void invariant_x(MILLIMETER_FLOAT);
00036   static MILLIMETER_FLOAT invariant_x(void);    
00037   static void invariant_y(MILLIMETER_FLOAT);
00038   static MILLIMETER_FLOAT invariant_y(void);    
00039   static RADIAN invariant_angle(void); 
00040   static void invariant_angle(RADIAN);
00042   static short mapx(void);
00044   static short mapy(void);
00045   static void invariant_set(MILLIMETER_FLOAT, MILLIMETER_FLOAT, RADIAN);
00046   static void invariant_set(pose& p);
00047   static void slippage(MILLIMETER_FLOAT, MILLIMETER_FLOAT, RADIAN);
00048   // random number 0..1
00049   static float random(void);
00051   static bool error_model(void);
00053   static void error_model(bool);
00055   static void systematic_error_X(int ix);
00057   static void systematic_error_Y(int iy);
00059   static void systematic_error_IR(int iangle);
00061   static int systematic_error_X(void);
00063   static int systematic_error_Y(void);
00065   static int systematic_error_IR(void);
00066   // from platform invariant.
00067 
00068 
00069   static MILLIMETER_FLOAT invariant_wheelbase(void);
00070   static void invariant_wheelbase(MILLIMETER_FLOAT);
00071   static void invariant_robot_diameter(MILLIMETER_FLOAT);
00072   static MILLIMETER_FLOAT invariant_robot_diameter(void); 
00073   static void invariant_wheel_diameter(HAND, MILLIMETER_FLOAT); 
00074   static MILLIMETER_FLOAT invariant_wheel_diameter(HAND);
00075   static void invariant_stall(HAND h,float s);
00076   static void invariant_maximum_velocity(HAND h,float m);
00077   static float invariant_stall(HAND h);
00078   static float invariant_maximum_velocity(HAND h);
00079   static ENCODER_TYPE EU_x(void);
00080   static ENCODER_TYPE EU_y(void);
00081   static FIXED_RADIAN FR_angle(void);
00082 private:
00083 //  static ENCODER_TYPE EU_ix;
00084 //  static ENCODER_TYPE EU_iy;
00085 //  static FIXED_RADIAN FR_ia;
00086 
00087   static void init(void);
00088   // All class data belongs to shared memory as it needs to be available in both environments.
00089 };
00090 #endif
00091