39 lines
878 B
C++
39 lines
878 B
C++
#include "Quadcopter.h"
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Quadcopter::Quadcopter() {}
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void Quadcopter::SetTwistSpeed(float forward, float yaw) {
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this->velocity = Vector3::forward * forward;
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this->yawSpeed = yaw;
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}
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void Quadcopter::SetTwistSpeed(Vector2 linear, float yaw) {
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this->velocity = Vector3(linear.x, 0.0F, linear.y);
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this->yawSpeed = yaw;
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}
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void Quadcopter::SetTwistSpeed(Vector3 velocity,
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float yaw,
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float pitch,
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float roll) {
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this->velocity = velocity;
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this->yawSpeed = yaw;
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this->rollSpeed = roll;
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this->pitchSpeed = pitch;
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}
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Vector3 Quadcopter::GetTargetVelocity() {
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return this->velocity;
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}
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float Quadcopter::GetPitchSpeed() {
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return this->pitchSpeed;
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}
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float Quadcopter::GetYawSpeed() {
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return this->yawSpeed;
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}
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float Quadcopter::GetRollSpeed() {
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return this->rollSpeed;
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}
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