From ecedb2e9f7e3dd8070d0436eb042bdf113470a21 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gr=C3=A9goire=20Payen=20de=20La=20Garanderie?=
<gregoire.payendelagaranderie@telecom-bretagne.eu>
Date: Fri, 15 Apr 2011 02:40:16 +0200
Subject: [PATCH] Simplification du design de la classe Odometrie pour la
simulation.
---
stm32/include/odometrie.h | 13 ++++++----
stm32/include/simul/robot.h | 2 +-
stm32/src/simul/robot.cpp | 50 +++++++++++++++++--------------------
3 files changed, 32 insertions(+), 33 deletions(-)
diff --git a/stm32/include/odometrie.h b/stm32/include/odometrie.h
index ad5597bd..5d52e582 100755
--- a/stm32/include/odometrie.h
+++ b/stm32/include/odometrie.h
@@ -7,12 +7,15 @@
#ifndef ROBOTHW
class Odometrie
{
+private:
+ class Robot* robot;
public:
- virtual PositionPlusAngle getPos()=0;
- virtual void setPos(PositionPlusAngle p)=0;
- virtual Angle getVitesseAngulaire()=0;
- virtual Distance getVitesseLineaire()=0;
- virtual void update() { };
+ Odometrie(Robot* robot);
+ PositionPlusAngle getPos();
+ void setPos(PositionPlusAngle p);
+ Angle getVitesseAngulaire();
+ Distance getVitesseLineaire();
+ void update() { };
};
#else
diff --git a/stm32/include/simul/robot.h b/stm32/include/simul/robot.h
index d02e09f2..5855d1fb 100644
--- a/stm32/include/simul/robot.h
+++ b/stm32/include/simul/robot.h
@@ -18,7 +18,7 @@ public:
PositionPlusAngle deriv;
boost::circular_buffer<PositionPlusAngle> olds;
class Asservissement* asservissement;
- class OdoRobot* odometrie;
+ class Odometrie* odometrie;
class Strategie* strategie;
b2Body* body;
diff --git a/stm32/src/simul/robot.cpp b/stm32/src/simul/robot.cpp
index 25a3a5e4..97262af5 100644
--- a/stm32/src/simul/robot.cpp
+++ b/stm32/src/simul/robot.cpp
@@ -8,37 +8,33 @@
#include "strategie.h"
#include <iostream>
-class OdoRobot : public Odometrie
+//Odometrie class implementation for the simulation
+//Yes, it's ugly ! it should not be in this file.
+//But in a separate file
+Odometrie::Odometrie(Robot* robot)
{
-private:
- Robot* robot;
-
-public:
- OdoRobot(Robot* robot)
- {
- this->robot = robot;
- }
+ this->robot = robot;
+}
- PositionPlusAngle getPos()
- {
- return robot->pos;
- }
+PositionPlusAngle Odometrie::getPos()
+{
+ return robot->pos;
+}
- Distance getVitesseLineaire()
- {
- return robot->deriv.position.getNorme();
- }
+Distance Odometrie::getVitesseLineaire()
+{
+ return robot->deriv.position.getNorme();
+}
- Angle getVitesseAngulaire()
- {
- return robot->deriv.angle;
- }
+Angle Odometrie::getVitesseAngulaire()
+{
+ return robot->deriv.angle;
+}
- void setPos(PositionPlusAngle p)
- {
- robot->pos = p;
- }
-};
+void Odometrie::setPos(PositionPlusAngle p)
+{
+ robot->pos = p;
+}
Robot::Robot(b2World & world) : world(world), olds(10000)
@@ -50,7 +46,7 @@ Robot::Robot(b2World & world) : world(world), olds(10000)
joint = NULL;
level = 0;
- odometrie = new OdoRobot(this);
+ odometrie = new Odometrie(this);
asservissement = new Asservissement(odometrie);
strategie = new Strategie(true, odometrie);
asservissement->strategie = strategie;
--
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