d:/PlatformIO/RoboidControl/Propulsion.h

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#pragma once
 
#include "LinearAlgebra/Polar.h"
#include "LinearAlgebra/Quaternion.h"
#include "LinearAlgebra/Vector2.h"
#include "Motor.h"
 
namespace Passer {
namespace RoboidControl {
 
class Roboid;
 
class Propulsion {
public:
  Propulsion();
 
  void Update(float currentTimeMs);
 
  unsigned int GetMotorCount();
  Motor *GetMotor(unsigned int motorIx);
  // Placement *GetMotorPlacement(unsigned int motorIx);
 
  virtual void SetTwistSpeed(float forward, float yaw = 0.0F);
  virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F);
  virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
                             float pitch = 0.0F, float roll = 0.0F);
 
  virtual void SetVelocity(Polar velocity);
 
  virtual Polar GetVelocity();
  virtual float GetAngularVelocity();
 
  Roboid *roboid = nullptr;
 
protected:
  unsigned int motorCount = 0;
  // Placement *placement = nullptr;
  Motor **motors = nullptr;
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;