PID.cpp

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#include <ctrl/PID.hpp>


// Cf Controller::chooseVelocities(...)
void PIDCtrl::chooseVelocities(double& trans_vel, double& rot_vel,
                               std::ostream& log_str) {
  // updates the goal to be one time step after the robot's date
  searchGoal(time_step);
  const iSeeML::rob::OrPtConfig& robot_cfg = state.configuration(),
    goal_cfg = (*goal)->configuration();
  const State new_goal( (*goal)->date(),
                        robot_cfg.projection(goal_cfg),
                        (*goal)->translationVelocity(),
                        (*goal)->rotationVelocity() );
  // sets the goal of the local controller, in the robot's frame
  reachCtrl.changeGoal(new_goal);
  // uses the local controller
  reachCtrl.chooseVelocities(trans_vel, rot_vel, log_str);
} // end of void PIDCtrl::chooseVelocities(double&, double&, ...) ----