41 lines
973 B
C++
41 lines
973 B
C++
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/*
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* IEncoder.h
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*
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* Created on: 20 <EFBFBD><EFBFBD><EFBFBD>. 2019 <EFBFBD>.
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* Author: krugliy
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*/
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#ifndef SOURCE_DRIVER_IENCODER_H_
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#define SOURCE_DRIVER_IENCODER_H_
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#include <utility>
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namespace driver {
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//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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struct IEncoder {
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typedef float Turn;
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typedef float Angle;
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typedef std::pair<Turn, Angle> Position;
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//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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virtual Turn getTurn() const = 0;
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//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 0 <20><> 2*pi <20><><EFBFBD> NaN.
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virtual Angle getAngle() const = 0;
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//!<21><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD>).
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virtual Position getPosition() const = 0;
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static std::pair<Turn, Angle> delta( std::pair<Turn, Angle> point_0, std::pair<Turn, Angle> point_1 );
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static Angle in_turn( std::pair<Turn, Angle> point, Turn base );
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static std::pair<Turn, Angle> normalize( std::pair<Turn, Angle> point );
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};
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}
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#endif /* SOURCE_DRIVER_IENCODER_H_ */
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