65 lines
1.4 KiB
C++
65 lines
1.4 KiB
C++
#pragma once
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#include "Activation.h"
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#include "Perception.h"
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// #include "Placement.h"
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// #include "Propulsion.h"
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#include "DifferentialDrive.h"
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namespace Passer {
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namespace RoboidControl {
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class Waypoint {
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public:
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Waypoint(float forwardDistance, float rotation) {
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this->point = Vector3(0, 0, forwardDistance);
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this->distance = forwardDistance;
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this->rotation = rotation;
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}
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float distance = 0;
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Vector3 point = Vector3(0, 0, 0);
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float rotation = 0;
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};
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class Trajectory {
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public:
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Trajectory(){};
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Trajectory(Waypoint* waypoints, unsigned int waypointCount) {
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this->waypoints = waypoints;
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this->waypointCount = waypointCount;
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}
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Waypoint* waypoints;
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unsigned int waypointCount;
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};
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class Acceleration {
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public:
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float GetMagnitude() { return 0; };
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};
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class Roboid {
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public:
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Roboid();
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Roboid(Placement configuration[], unsigned int thingCount);
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Roboid(Perception* perception, Propulsion* propulsion);
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Perception* perception;
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Propulsion* propulsion;
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Acceleration acceleration;
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// Placement* configuration;
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// unsigned int thingCount;
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void Update(float currentTimeMs);
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bool Drive(Waypoint* waypoint, float currentTimeMs);
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void FollowTrajectory(Trajectory* Trajectory);
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public:
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Trajectory* trajectory;
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unsigned int waypointIx = 0;
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |