movement.h

movement.h

//===================================
// include guard (safety measure)
#ifndef MOVEMENT_H // if not defined
#define MOVEMENT_H // define

//===================================
// forward declared dependencies
class Strategy;
class Detection;

//===================================
// included dependencies
#include <iostream>
#include <emc/io.h>		// embedded motion control package
#include <emc/rate.h>
#include <ctime>
#include <string>
#include <unistd.h>
#include <stdlib.h>
#include <cmath>		// math operation such as sqrt(),cos()
#include <math.h>		// more math

#include "eigen3/Eigen/Dense"
#include "picomath.h"

//===================================
// the actual class
class Movement {
private:
    int status;                     //status that is returned to main:
                                    // 0 = on its way
                                    // 1 = arrived at location
                                    // 2 = can't reach location due to obstacle in the way
    int move;                       // for 180 degree turn
    int command;
    int type;                       // interger for type of movement

    float vmax;                     // maximum xy velocity [m/s];
    float vmag;                     // current velocity magnitude in x [m/s]

    Point current_velocity;         // current robot velocity (x,y,theta) [m/s]
    Point A;
    Point A_temp;
    Point B;
    Point velocity_p2p;
    Point velocity_colavoid;
    Point velocity_homing;
    Point velocity_oneeighty;
    Point turn;

    // nlc

    // velp
    float dr;
    float dtheta;       // Difference between current orientation of the robot and aim_angle [rad].
                        // and the difference between the current orientation of the robot and the final
                        // orientation [rad].
    float dtheta2;
    float dr_arrived;   // distance to B at which the robot marks: location arrived [m].
    float kw;           // convergence rate in the rotation of the used non-linear controller [N/rad];

    // potf

// computational entities
    // velocity profile
    void velp(Point Ap, Point Bp);
    // non-linear controller
    void nlc();
    // potential field
    void potf(emc::IO &io, emc::LaserData scan);
    // homing
    void homing(emc::IO &io, emc::LaserData scan);
    // oneeighty
    void oneeighty(emc::IO &io, emc::LaserData scan);

public:
// coordinators/composers
    // runs, depending on movement type, the selected computational entities for that type of movement
    void movement(emc::IO &io, emc::LaserData scan, Detection &det, Strategy &strat);

// monitors
    int monitor();
//    int   getStatus();

// configurators
    void setMaxvelocity(float maxvelocity);

// class entities
    // constructors
    Movement();

    // setters

    // getters
    Point getVelocity();
};

#endif // CONVERT_H