RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Replace twist with linear/angular velocity

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This commit is contained in:
Pascal Serrarens 2024-01-22 11:55:07 +01:00
parent b86484d59d
commit 2e042981fc
4 changed files with 108 additions and 74 deletions
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23
Propulsion.cpp
View File

@ -8,7 +8,9 @@ Propulsion::Propulsion() {
this->motorCount = 0;
}
unsigned int Propulsion::GetMotorCount() { return this->motorCount; }
unsigned int Propulsion::GetMotorCount() {
return this->motorCount;
}
Motor* Propulsion::GetMotor(unsigned int motorId) {
if (motorId >= this->motorCount)
@ -28,13 +30,28 @@ void Propulsion::Update(float currentTimeMs) {
}
}
/*
void Propulsion::SetTwistSpeed(float forward, float yaw) {}
void Propulsion::SetTwistSpeed(Vector2 linear, float yaw) {}
void Propulsion::SetTwistSpeed(Vector3 linear, float yaw, float pitch,
float roll) {}
*/
Polar Propulsion::GetVelocity() { return Polar(0, 0); }
void Propulsion::SetVelocity(float velocity) {}
void Propulsion::SetVelocity(Vector2 velocity) {}
void Propulsion::SetVelocity(Vector3 verlocity) {}
void Propulsion::SetVelocity(Polar velocity) {}
void Propulsion::SetVelocity(Spherical velocity) {}
float Propulsion::GetAngularVelocity() { return 0; }
void Propulsion::SetAngularVelocity(float yaw) {}
void Propulsion::SetAngularVelocity(float yaw, float pitch, float roll) {}
Polar Propulsion::GetVelocity() {
return Polar(0, 0);
}
float Propulsion::GetAngularVelocity() {
return 0;
}

24
Propulsion.h
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@ -3,7 +3,9 @@
#include "Motor.h"
#include "VectorAlgebra/Polar.h"
#include "VectorAlgebra/Quaternion.h"
#include "VectorAlgebra/Spherical.h"
#include "VectorAlgebra/Vector2.h"
#include "VectorAlgebra/Vector3.h"
namespace Passer {
namespace RoboidControl {
@ -38,6 +40,7 @@ public:
/// index could be found
// Placement *GetMotorPlacement(unsigned int motorIx);
/*
/// @brief Sets the forward and rotation speed of a (grounded) Roboid
/// @param forward The target forward speed
/// @param yaw The target rotation speed around the vertical axis
@ -48,16 +51,29 @@ public:
/// Roboid
/// @param linear The target linear (forward, sideward) speed
/// @param yaw The target rotation speed around the vertical axis
/// This function is typically used for Roboid which are driving on the ground
/// This function is typically used for Roboid which are driving on the
ground
/// which have to ability to move sideward
virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F);
/// @brief Set the target 3D linear and 3D rotation speed of a (flying) Roboid
/// @brief Set the target 3D linear and 3D rotation speed of a (flying)
Roboid
/// @param linear The target linear speed
/// @param yaw The target rotation speed around the vertical axis
/// @param pitch The target rotation speed around the sideward axis
/// @param roll The target rotation speed around hte forward axis
virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
float pitch = 0.0F, float roll = 0.0F);
virtual void SetTwistSpeed(Vector3 linear,
float yaw = 0.0F,
float pitch = 0.0F,
float roll = 0.0F);
*/
virtual void SetVelocity(float velocity);
virtual void SetVelocity(Polar velocity);
virtual void SetVelocity(Spherical velocity);
virtual void SetVelocity(Vector2 velocity);
virtual void SetVelocity(Vector3 velocity);
virtual void SetAngularVelocity(float yaw);
virtual void SetAngularVelocity(float yaw, float pitch, float roll);
/// @brief Retrieve the current velocity of the roboid
/// @return The velocity in polar coordinates

58
Quadcopter.cpp
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@ -2,37 +2,37 @@
Quadcopter::Quadcopter() {}
void Quadcopter::SetTwistSpeed(float forward, float yaw) {
this->velocity = Vector3::forward * forward;
this->yawSpeed = yaw;
}
// void Quadcopter::SetTwistSpeed(float forward, float yaw) {
// this->velocity = Vector3::forward * forward;
// this->yawSpeed = yaw;
// }
void Quadcopter::SetTwistSpeed(Vector2 linear, float yaw) {
this->velocity = Vector3(linear.x, 0.0F, linear.y);
this->yawSpeed = yaw;
}
// void Quadcopter::SetTwistSpeed(Vector2 linear, float yaw) {
// this->velocity = Vector3(linear.x, 0.0F, linear.y);
// this->yawSpeed = yaw;
// }
void Quadcopter::SetTwistSpeed(Vector3 velocity,
float yaw,
float pitch,
float roll) {
this->velocity = velocity;
this->yawSpeed = yaw;
this->rollSpeed = roll;
this->pitchSpeed = pitch;
}
// void Quadcopter::SetTwistSpeed(Vector3 velocity,
// float yaw,
// float pitch,
// float roll) {
// this->velocity = velocity;
// this->yawSpeed = yaw;
// this->rollSpeed = roll;
// this->pitchSpeed = pitch;
// }
Vector3 Quadcopter::GetTargetVelocity() {
return this->velocity;
}
// Vector3 Quadcopter::GetTargetVelocity() {
// return this->velocity;
// }
float Quadcopter::GetPitchSpeed() {
return this->pitchSpeed;
}
// float Quadcopter::GetPitchSpeed() {
// return this->pitchSpeed;
// }
float Quadcopter::GetYawSpeed() {
return this->yawSpeed;
}
float Quadcopter::GetRollSpeed() {
return this->rollSpeed;
}
// float Quadcopter::GetYawSpeed() {
// return this->yawSpeed;
// }
// float Quadcopter::GetRollSpeed() {
// return this->rollSpeed;
// }

17
Quadcopter.h
View File

@ -14,15 +14,16 @@ public:
/// @brief Default constuctor
Quadcopter();
virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
float pitch = 0.0F, float roll = 0.0F) override;
// virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
// virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
// virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
// float pitch = 0.0F, float roll = 0.0F)
// override;
Vector3 GetTargetVelocity();
float GetYawSpeed();
float GetPitchSpeed();
float GetRollSpeed();
// Vector3 GetTargetVelocity();
// float GetYawSpeed();
// float GetPitchSpeed();
// float GetRollSpeed();
protected:
Vector3 velocity = Vector3::zero;