RotateTask Class Reference

Task for rotate a certain angle in-place with a given velocity. More...

#include <navigation/tasks/RotateTask.h>

Inheritance diagram for RotateTask:

Public Member Functions
	RotateTask (float angle=deg2rad(180.0f), float speed=deg2rad(30.0f))
	Creates a rotate task with given values. More...
template<typename Reflector >
void	reflect (Reflector &r)
	The reflect method. More...
Class const &	getClass () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
float	rotateAngle
	The requested rotation angle. More...
float	rotateSpeed
	The requested rotational speed. More...

Protected Member Functions
virtual Class const &	internalGetClass () const=0

Detailed Description

Task for rotate a certain angle in-place with a given velocity.

Constructor & Destructor Documentation

RotateTask()

RotateTask ( float  angle = deg2rad(180.0f), float  speed = deg2rad(30.0f)  )

inline

Creates a rotate task with given values.

Parameters

[in]	angle	How much shall the robot rotate, in [rad]
[in]	speed	How fast shall the robot rotate, in [rad]

Angle can be positive or negative, it determines the direction of rotation. Speed must be positive.

Exceptions

XInvalidParameter

if speed is negative

Examples:

// half-turn positive rotation (counter-clockwise), at 10°/s
RotateTask halfturn(deg2rad(180), deg2rad(10));

// 360° turn negative rotation (clockwise), at 20°/s
RotateTask fullturn(deg2rad(-360), deg2rad(20));

// same as above
RotateTask fullturn2(-2*M_PI, deg2rad(20));

Member Function Documentation

reflect()

void reflect ( Reflector &  r )

inline

The reflect method.

Member Data Documentation

rotateAngle

float rotateAngle

The requested rotation angle.

rotateSpeed

float rotateSpeed

The requested rotational speed.

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The documentation for this class was generated from the following file:

• include/navigation/tasks/RotateTask.h