epuckPosition2d.hpp

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/* Copyright 2008 Renato Florentino Garcia <fgar.renato@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2, as
 * published by the Free Software Foundation.
 *
 * This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef EPUCK_POSITION2D_HPP
#define EPUCK_POSITION2D_HPP

#include "epuckInterface.hpp"
#include "timer.hpp"

class EpuckPosition2d : public EpuckInterface
{
public:

  struct BodyGeometry
  {
    float width; 
    float height; 
  };

  struct DynamicConfiguration
  {
    Triple pose; 
    Triple velocity; 
  };

  EpuckPosition2d(const SerialPort* const serialPort);

  void SetVel(float px, float pa) const;

  DynamicConfiguration UpdateOdometry();

  void SetOdometry(Triple odometry);


  void ResetOdometry();

  void StopMotors() const;

  inline BodyGeometry GetGeometry() const
  {
    return this->geometry;
  }

private:

  EpuckTimer timer;

  // Holder for current position data estimated by e-puck robot odometry.
  DynamicConfiguration odometryState;

  BodyGeometry geometry;

  // Diameter of e-puck wheels [m]
  static const float WHEEL_DIAMETER;

  // Distance between e-puck wheels [m]
  static const float TRACK;

  // Wheel radius divided by TRACK [m]
  static const float r_DIV_L;

  // Half of wheel radius [m]
  static const float r_DIV_2;

  // Angular displacement of one motor step [rad]
  static const float STEP_ANG_DISP;
};

#endif