OmniWheel.h

Go to the documentation of this file.

// -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*-
#ifndef __OMNI_WHEEL_H__
#define __OMNI_WHEEL_H__

#include "Mobility.h"
#include "Configuration.h"

namespace PathEngine {
    class PathPlanner;

    /*
     * @brief
     */
    class OmniWheel : public Mobility {
    public:
        OmniWheel(PathPlanner* planner) : Mobility(planner) {}

        Configuration interpolate(const Configuration& from, const Configuration& to, double ratio) const;
      
        double distance(const Configuration& from, const Configuration& to) const;

        bool isReversible() const { return true; }
    };
};
#endif