Propulsion.h

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#pragma once
 
#include "Motor.h"
#include "Placement.h"
#include "Vector2.h"
 
namespace Passer {
namespace RoboidControl {
 
class Propulsion {
 public:
  Propulsion();
 
  void Update(float currentTimeMs);
 
  unsigned int GetMotorCount();
  Motor* GetMotor(unsigned int motorIx);
  Placement* GetMotorPlacement(unsigned int motorIx);
 
  // Velocity control
 
  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);
 
 protected:
  unsigned int motorCount = 0;
  Placement* placement = nullptr;
};
 
}  // namespace RoboidControl
}  // namespace Passer
using namespace Passer::RoboidControl;