breathMode.h
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_light
00013  * Description: Switch robots led color by sending data to
00014  * the led-µC over serial connection.
00015  *                                                              
00016  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00017  *                      
00018  * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00019  * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00020  *
00021  * Date of creation: August 2012
00022  * ToDo:
00023  *
00024  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00025  *
00026  * Redistribution and use in source and binary forms, with or without
00027  * modification, are permitted provided that the following conditions are met:
00028  *
00029  *     * Redistributions of source code must retain the above copyright
00030  *       notice, this list of conditions and the following disclaimer.
00031  *     * Redistributions in binary form must reproduce the above copyright
00032  *       notice, this list of conditions and the following disclaimer in the
00033  *       documentation and/or other materials provided with the distribution.
00034  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00035  *       Engineering and Automation (IPA) nor the names of its
00036  *       contributors may be used to endorse or promote products derived from
00037  *       this software without specific prior written permission.
00038  *
00039  * This program is free software: you can redistribute it and/or modify
00040  * it under the terms of the GNU Lesser General Public License LGPL as 
00041  * published by the Free Software Foundation, either version 3 of the 
00042  * License, or (at your option) any later version.
00043  * 
00044  * This program is distributed in the hope that it will be useful,
00045  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00046  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00047  * GNU Lesser General Public License LGPL for more details.
00048  * 
00049  * You should have received a copy of the GNU Lesser General Public 
00050  * License LGPL along with this program. 
00051  * If not, see <http://www.gnu.org/licenses/>.
00052  *
00053  ****************************************************************/
00054 
00055 #ifndef BREATHMODE_H
00056 #define BREATHMODE_H
00057 
00058 #include <mode.h>
00059 
00060 class BreathMode : public Mode
00061 {
00062 public:
00063         BreathMode(color::rgba color, int priority = 0, double freq = 20, int pulses = 0, double timeout = 0)
00064                 :Mode(priority, freq, pulses, timeout), _timer_inc(0.0)
00065         {
00066                 _color = color;
00067         }
00068 
00069         void execute()
00070         {
00071                 //double fV = (exp(sin(_timer_inc))-1.0/M_E)*(1.000/(M_E-1.0/M_E));
00072                 double fV = (exp(sin(_timer_inc))-0.36787944)*0.42545906411;
00073                 
00074                 _timer_inc += 0.05;
00075                 if(_timer_inc >= M_PI*2)
00076                 {
00077                         _timer_inc = 0.0;
00078                         _pulsed++;
00079                 }
00080 
00081                 _color.a = fV;
00082                 
00083                 m_sigColorReady(_color);
00084         }
00085 
00086         std::string getName(){ return std::string("BreathMode"); }
00087 
00088 private:
00089         double _timer_inc;
00090 };
00091 
00092 #endif


cob_light
Author(s): Benjamin Maidel
autogenerated on Sun Oct 5 2014 23:09:07