navigation.nc

来自「tinyos最新版」· NC 代码 · 共 57 行

/*									tab:4
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/*
 * Authors:		Sarah Bergbreiter
 * Date last modified:  1/14/03
 *
 */

/**
 * This interface provides a navigation component that can set actuators
 * to deal with current positions.
 */

interface Navigation {

  /**
   * Navigate. 
   * @param x1 The current x-coordinate of the robot.  This should be
   * given in cm.
   * @param y1 The current y-coordinate of the robot.  This should be
   * given in cm.
   * @param theta The current heading of the robot.  This should be
   * given in radians.
   * @param x2 The x-coordinate the robot should move to.  This should be
   * given in cm.
   * @param y2 The y-coordinate the robot should move to.  This should be
   * given in cm.
   *  @return Returns SUCCESS if the robot can move to the given point.
   *   Returns FAIL if the new point lies inside the turning radius of
   *   the robot (i.e. there's no way the robot could get to that point).
   */
  command result_t navigate(int16_t x1, int16_t y1, double theta, uint16_t x2, uint16_t y2);

}