abstract_field_mecanum_logic.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_MECANUM_LOGIC_ABSTRACT_FIELD_MECANUM_LOGIC_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_MECANUM_LOGIC_ABSTRACT_FIELD_MECANUM_LOGIC_HPP
#include "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 AbstractFieldMecanumLogic
    {
    public:
        using AbstractQuadDriveData = AbstractQuadSpeeds;
 
        void setMotion(const AbstractVelocity2D& translation, double rotationalOffset);
 
        void setTotalMotion(const AbstractVelocity2D& translation, double rotationOffset, const Radians& robotAngle);
 
        void setRobotAngle(const Radians& robotAngle);
        void setTranslation(const AbstractVelocity2D& translation);
        void setRotationOffset(double rotationalOffset);
 
        Radians getRobotAngle() const;
        AbstractVelocity2D getTranslation() const;
        double getRotationOffset() const;
 
        AbstractQuadDriveData getWheelSpeeds() const;
 
    private:
        double getFrontRightWheelSpeed() const;
        double getFrontLeftWheelSpeed() const;
        double getRearLeftWheelSpeed() const;
        double getRearRightWheelSpeed() const;
 
        AbstractVelocity2D fieldToRobotTranslation(const AbstractVelocity2D& translation) const;
        AbstractVelocity2D robotToFieldTranslation(const AbstractVelocity2D& translation) const;
 
        Radians robotAngle_{0.0};
        AbstractVelocity2D fieldTranslation_{0.0,0.0};
 
        AbstractRobotMecanumLogic robotwiseMecanumLogic_{};
    };
}
#endif