d:/PlatformIO/RoboidControl/Roboid.h

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#pragma once
 
#include "LinearAlgebra/AngleAxis.h"
#include "Perception.h"
#include "Propulsion.h"
#include "ServoMotor.h"
 
namespace Passer {
namespace RoboidControl {
 
class NetworkSync;
 
class Roboid {
public:
  Roboid();
  Roboid(Perception *perception, Propulsion *propulsion = nullptr);
 
  Roboid(Perception *perception, ServoMotor *actuationRoot);
 
  Roboid(ServoMotor *actuationRoot);
 
  void Update(float currentTimeMs);
 
  Perception *perception = nullptr;
  Propulsion *propulsion = nullptr;
  ServoMotor *actuationRoot = nullptr;
 
  NetworkSync *networkSync = nullptr;
 
  virtual Vector3 GetPosition();
  Vector2 GetPosition2D();
  virtual Quaternion GetOrientation();
  float GetOrientation2D();
 
  virtual void SetPosition(Vector3 worldPosition);
  virtual void SetOrientation(Quaternion worldOrientation);
  void SetOrientation2D(float angle);
 
private:
  Vector3 worldPosition = Vector3::zero;
  // Quaternion worldOrientation = Quaternion::identity;
 
  AngleAxis worldAngleAxis = AngleAxis();
 
  unsigned long lastUpdateTimeMs = 0;
};
 
} // namespace RoboidControl
} // namespace Passer
 
using namespace Passer::RoboidControl;