85 lines
3.3 KiB
C++
85 lines
3.3 KiB
C++
#pragma once
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#include "Perception.h"
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#include "Propulsion.h"
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#include "ServoMotor.h"
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namespace Passer {
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namespace RoboidControl {
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class NetworkSync;
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/// @brief A Roboid is used to control autonomous robots
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class Roboid : public Thing {
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public:
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/// @brief Default constructor for a Roboid
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Roboid();
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/// @brief Creates a Roboid with Perception and Propulsion abilities
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/// @param perception The Perception implementation to use for this Roboid
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/// @param propulsion The Propulsion implementation to use for this Roboid
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Roboid(Propulsion *propulsion);
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/// @brief Update the state of the Roboid
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/// @param currentTimeMs The time in milliseconds when calling this
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/// function
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void Update(unsigned long currentTimeMs);
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/// @brief The Perception module of this Roboid
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Perception *perception = nullptr;
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/// @brief The Propulsion module of this Roboid
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Propulsion *propulsion = nullptr;
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// ServoMotor *actuation = nullptr;
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/// @brief The reference to the module to synchronize states across a network
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NetworkSync *networkSync = nullptr;
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/// @brief Retrieve the current position of the roboid
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/// @return The position in carthesian coordinates in world space
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/// @details The origin and units of the position depends on the position
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/// tracking system used. This value will be Vector3::zero unless a position
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/// is received through network synchronisation
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// virtual Spherical16 GetPosition();
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// Vector2 GetPosition2D();
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/// @brief Retrieve the current orientation of the roboid
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/// @return The orientation quaternion in world space
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/// @details The origin orientation depends on the position tracking system
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/// used. This value will be Quaternion::identity unless an orientation is
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/// received though network synchronization
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// virtual SwingTwist16 GetOrientation();
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/// @brief Update the current position of the roboid
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/// @param worldPosition The position of the roboid in carthesian coordinates
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/// in world space
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/// @details The use of this function will also update the positions and
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/// orientations of the perceived objects by the roboid
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/// (roboid->perception->perceivedObjects), as these are local to the
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/// roboid's position.
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// virtual void SetPosition(Spherical16 worldPosition);
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/// @brief Update the current orientation of the roboid
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/// @param worldOrientation The orientation of the roboid in world space
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/// @details The use of this function will also update the orientations of the
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/// perceived objects by the roboid (roboid->perception->perceivedObjets),
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/// as these are local to the roboid' orientation.
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// virtual void SetOrientation(SwingTwist16 worldOrientation);
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// virtual void AddChild(Thing *child) override;
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void Release(Thing *child);
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Thing *worldOrigin =
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nullptr; // thing to track the world origin to be able to transform
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// world coordinates into roboid or local coordinates
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// Perhaps this will move to perception at some point
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/// @brief Loads the model and adds the skeleton (if any) to the roboid
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/// @param url The url of the model
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/// @remark The only supported model format is .gltf
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void LoadModel(const char *url);
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private:
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unsigned long lastUpdateTimeMs = 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; |