targetdrive.h

一个简单使用的控制器

#ifndef TARGETDRIVE_H
#define TARGETDRIVE_H

#include "RobotAction.h"
#include "VFHState.h"

class TargetDrive {
	public:
		TargetDrive(int tX, int tZ);

		void driveFrom(int x, int z, int theta);
	protected:
		double driveTheta(double dTh);
		double driveVel(double distSq);
		double getSafeTheta(double targetTh, double th);
		
		void freePieces(int freeSpaces [], int numSectors, int targetSect, int pieceSize, int** pieces, int piecesSize);
		int firstFreeSectorsRight(double targetTh, int threshold, double theta);
		int firstFreeSectorsLeft(double targetTh, int threshold, double theta);
	private:
		RobotAction* robotAction;	
		VFHState* vfhState;
		int targetX, targetZ;

		int freeSectorsThreshold;		// wie gro