uwsmposition.h

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
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#ifndef _UWSMPOSITION_
#define _UWSMPOSITION_
 
#include <node-core.h>
 
#define sgn(x) (((x) == 0.0) ? 0.0 : ((x) / fabs(x)))
#define pi (4 * atan(1.0))
 
class UWSMPosition : public Position
{
public:
    UWSMPosition();
 
    virtual ~UWSMPosition() = default;
 
    virtual double getX() override;
 
    virtual double getY() override;
 
    virtual double getZ() override;
 
    virtual double getXdest() const;
 
    virtual double getYdest() const;
 
    virtual double getZdest() const;
 
    double getSpeed() const;
 
    virtual int command(int argc, const char *const *argv) override;
 
    /*
     * Set the destination of the node with a constant speed.
     *
     * @param double Coordinate along x-axis of destination point
     * @param double Coordinate along y-axis of destination point
     * @param double Coordinate along z-axis of destination point
     * @param double Speed of the node
     */
    virtual void setdest(double x_dest, double y_dest, double z_dest, double speed);
 
    /*
     * Set the destination of the node with default speed.
     *
     * @param double Coordinate along x-axis of destination point
     * @param double Coordinate along y-axis of destination point
     * @param double Coordinate along z-axis of destination point
     * @param double Speed of the node
     */
    virtual void setdest(double x_dest, double y_dest, double z_dest);
 
    /*
     * Check if the set destination is reached or not.
     *
     * @return bool True if reached, false otherwise
     */
    virtual bool isDestReached() const;
 
    virtual void setX(double x) override;
 
    virtual void setY(double y) override;
 
    virtual void setZ(double z) override;
 
private:
    virtual void update(double now);
 
    int debug_;
    double trgTime_; 
    double lastUpdateTime_; 
    double Xdest_; 
    double Ydest_; 
    double Zdest_; 
    double Xsorg_; 
    double Ysorg_; 
    double Zsorg_; 
    double speed_; 
};
 
#endif