36 lines
936 B
C++
36 lines
936 B
C++
#pragma once
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#include "LinearAlgebra/Vector3.h"
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#include "Propulsion.h"
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#include "Thing.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief Support for Quadcopter as a propulsion method
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/// @note This is work in progress
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class Quadcopter : public Propulsion {
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public:
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/// @brief Default constuctor
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Quadcopter();
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virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
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virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
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virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
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float pitch = 0.0F, float roll = 0.0F) override;
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Vector3 GetTargetVelocity();
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float GetYawSpeed();
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float GetPitchSpeed();
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float GetRollSpeed();
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protected:
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Vector3 velocity = Vector3::zero;
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float pitchSpeed = 0.0F;
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float yawSpeed = 0.0F;
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float rollSpeed = 0.0F;
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |