85 lines
3.1 KiB
C++
85 lines
3.1 KiB
C++
#pragma once
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#include "Motor.h"
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#include "Placement.h"
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#include "Polar.h"
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#include "Quaternion.h"
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#include "Vector2.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief The Propulsion module for a Roboid is used to move the Roboid in
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/// space
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///
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/// Usually, a specific implementation of the propulsion module is used for a
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/// robot. This base class does not implement the functions to move the Roboid
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/// around.
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class Propulsion {
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public:
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/// @brief Default Constructor for Propulsion
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Propulsion();
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/// @brief Update the propulsion state of the Roboid
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/// @param currentTimeMs The time in milliseconds when calling this
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void Update(float currentTimeMs);
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/// @brief Get the number of motors in this roboid
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/// @return The number of motors. Zero when no motors are present
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unsigned int GetMotorCount();
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/// @brief Get a specific motor
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/// @param motorIx The index of the motor
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/// @return Returns the motor or a nullptr when no motor with the given index
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/// could be found
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Motor *GetMotor(unsigned int motorIx);
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/// @brief Get the Placement of a specific Motor
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/// @param motorIx The index of the Motor
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/// @return Returns the Placement or a nullptr when no Placement with the give
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/// index could be found
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Placement *GetMotorPlacement(unsigned int motorIx);
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// Velocity control
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/// @brief Sets the forward and rotation speed of a (grounded) Roboid
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/// @param forward The target forward speed
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/// @param yaw The target rotation speed around the vertical axis
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/// This function is typically used for Roboid which are driving on the
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/// ground.
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virtual void SetTwistSpeed(float forward, float yaw = 0.0F);
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/// @brief Sets the forward, sideward and rotation speed of a (grounded)
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/// Roboid
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/// @param linear The target linear (forward, sideward) speed
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/// @param yaw The target rotation speed around the vertical axis
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/// This function is typically used for Roboid which are driving on the ground
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/// which have to ability to move sideward
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virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F);
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/// @brief Set the target 3D linear and 3D rotation speed of a (flying) Roboid
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/// @param linear The target linear speed
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/// @param yaw The target rotation speed around the vertical axis
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/// @param pitch The target rotation speed around the sideward axis
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/// @param roll The target rotation speed around hte forward axis
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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);
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virtual Polar GetVelocity();
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virtual float GetAngularVelocity();
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virtual Vector3 GetPosition();
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virtual Quaternion GetOrientation();
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virtual void SetPosition(Vector3 worldPosition);
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virtual void SetOrientation(Quaternion worldOrientation);
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protected:
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/// @brief The number of motors used for Propulsion
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unsigned int motorCount = 0;
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/// @brief The Placement of the motors used for Propulsion
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Placement *placement = nullptr;
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Vector3 worldPosition = Vector3::zero;
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Quaternion worldOrientation = Quaternion::identity;
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |