Sha256: a015d01a86db63ee11a05dd4f0a90cd6e1ec0f5be41c9128198a33171594397c
Contents?: true
Size: 630 Bytes
Versions: 5
Compression:
Stored size: 630 Bytes
Contents
module Roby
module Test
class Goto2D < Roby::Task
terminates
argument :x, :y
def speed; State.goto_speed end
def x; arguments[:x] end
def y; arguments[:y] end
poll do
dx = x - State.pos.x
dy = y - State.pos.y
d = Math.sqrt(dx * dx + dy * dy)
if d > speed
State.pos.x += speed * dx / d
State.pos.y += speed * dy / d
else
State.pos.x = x
State.pos.y = y
emit :success
end
STDERR.puts "#{x} #{y} #{speed} #{State.pos}"
end
module Planning
planning_library
method(:go_to) do
Goto2D.new(arguments)
end
end
end
end
end
Version data entries
5 entries across 5 versions & 1 rubygems