bmposition.h

/* -*- Mode:C++; -*- */
/*
 * Copyright (c) 2007 Regents of the SIGNET lab, University of Padova.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the University of Padova (SIGNET lab) nor the 
 *    names of its contributors may be used to endorse or promote products 
 *    derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
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 */

#ifndef _BMPOSITION_
#define _BMPOSITION_

#include <node-core.h>


#define sgn(x) ( ((x)==0.0) ? 0.0 : ((x)/fabs(x)) )
#define pi (4*atan(1.0))

class BMPosition : public Position
{
        public:
                BMPosition();
                virtual ~BMPosition();
                virtual double getX();
                virtual double getY();
                
                virtual int command(int argc, const char*const* argv);
        private:
                void update(double now);
                
                double trgTime_;                                                
                double lastUpdateTime_;                         
                double Xdest_;                                                  
                double Ydest_;                                                  
                double Xsorg_;                                                  
                double Ysorg_;                                                  
                double speed_;                                                  
                
                int debug_;
};

#endif

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