uwsmposition.h

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
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// modification, are permitted provided that the following conditions
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// 2. Redistributions in binary form must reproduce the above copyright
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//    derived from this software without specific prior written permission.
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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();
    virtual double getX();
    virtual double getY();
 
    virtual double getZ();
 
    virtual double getXdest() const;
 
    virtual double getYdest() const;
 
    virtual double getZdest() const;
 
    double getSpeed() const;
 
    virtual int command(int argc, const char *const *argv);
    virtual void setdest(
            double x_dest, double y_dest, double z_dest, double spead);
    virtual void setdest(double x_dest, double y_dest, double z_dest);
    virtual bool isDestReached() const;
    virtual void setX(double x);
    virtual void setY(double y);
    virtual void setZ(double z);
 
private:
    virtual void update(double now);
 
    double trgTime_; 
    double lastUpdateTime_; 
    double Xdest_; 
    double Ydest_; 
    double Zdest_; 
    double Xsorg_; 
    double Ysorg_; 
    double Zsorg_; 
    double speed_; 
 
    int debug_;
};
 
#endif