OmniDrive.h

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//  Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_API2_C_OMNIDRIVE_H_
#define _REC_ROBOTINO_API2_C_OMNIDRIVE_H_

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

typedef int OmniDriveId;

#define INVALID_OMNIDRIVEID -1

DLLEXPORT OmniDriveId OmniDrive_construct();

DLLEXPORT BOOL OmniDrive_destroy( OmniDriveId id );

DLLEXPORT BOOL OmniDrive_setComId( OmniDriveId id, ComId comId );

DLLEXPORT BOOL OmniDrive_setVelocity( OmniDriveId id, float vx, float vy, float omega );

DLLEXPORT BOOL OmniDrive_project( OmniDriveId id, float* m1, float* m2, float* m3, float vx, float vy, float omega );

DLLEXPORT int OmniDrive_num_objects( void );

#endif //_REC_ROBOTINO_API2_C_OMNIDRIVE_H_