lib/roby/test/tasks/goto.rb in roby-0.8.0 vs lib/roby/test/tasks/goto.rb in roby-3.0.0
- old
+ new
@@ -1,36 +1,37 @@
module Roby
module Test
- class Goto2D < Roby::Task
- terminates
- argument :x, :y
+ class Goto2D < Roby::Task
+ terminates
+ argument :x
+ argument :y
- def speed; State.goto_speed end
- def x; arguments[:x] end
- def y; arguments[:y] end
+ 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
+ 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
+ module Planning
+ planning_library
+ method(:go_to) do
+ Goto2D.new(arguments)
+ end
+ end
+ end
end
end