abstract_robot_mecanum_logic.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_MECANUM_LOGIC_ABSTRACT_ROBOT_MECANUM_LOGIC_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_MECANUM_LOGIC_ABSTRACT_ROBOT_MECANUM_LOGIC_HPP
#include "control/chassis/data/physics_alias.hpp"
#include "control/chassis/drive/quad_drive/data/quad_drive_data.hpp"
 
namespace fang::chassis
{
    class AbstractRobotMecanumLogic
    {
    public:
        using AbstractVelocity2D = physics::AbstractVelocity2D;
        void setMotion(const AbstractVelocity2D& translation, double rotationalOffset);
        void setTranslation(const AbstractVelocity2D& translation);
        void setRotationOffset(double rotationalOffset);
 
        AbstractVelocity2D getTranslation() const;
        double getRotationOffset() const;
        AbstractQuadSpeeds getWheelSpeeds() const;
 
    private:
        double getFrontRightWheelSpeed() const;
        double getFrontLeftWheelSpeed() const;
        double getRearLeftWheelSpeed() const;
        double getRearRightWheelSpeed() const;
 
        AbstractVelocity2D translation_{0,0};
        double rotationOffset_{0};
    };
}
#endif