abstract_mecanum_calculator.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_MECANUM_LOGIC_ABSTRACT_MECANUM_CALCULATOR_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_MECANUM_LOGIC_ABSTRACT_MECANUM_CALCULATOR_HPP
#include "control/chassis/data/physics_alias.hpp"
#include "control/chassis/drive/quad_drive/data/quad_drive_data.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::chassis
{
    class AbstractMecanumCalculator
    {
    public:
        AbstractMecanumCalculator(){}
        void setWheelSpeeds(const AbstractQuadSpeeds& quadDriveData);
        AbstractVelocity2D getTranslation() const;
        double getRotationOffset() const;
    private:
        AbstractQuadSpeeds quadDriveData_{0,0,0,0};
    };
}
#endif