00001
00002
00003 #ifndef _REC_ROBOTINO_COM_C_OMNIDRIVE_H_
00004 #define _REC_ROBOTINO_COM_C_OMNIDRIVE_H_
00005
00006 #include "rec/robotino/com/c/globals.h"
00007 #include "rec/robotino/com/c/Com.h"
00008
00016 typedef int OmniDriveId;
00017
00018 #define INVALID_OMNIDRIVEID -1
00019
00024 DLLEXPORT OmniDriveId OmniDrive_construct();
00025
00031 DLLEXPORT BOOL OmniDrive_destroy( OmniDriveId id );
00032
00037 DLLEXPORT BOOL OmniDrive_setComId( OmniDriveId id, ComId comId );
00038
00047 DLLEXPORT BOOL OmniDrive_setVelocity( OmniDriveId id, float vx, float vy, float omega );
00048
00060 DLLEXPORT BOOL OmniDrive_project( OmniDriveId id, float* m1, float* m2, float* m3, float vx, float vy, float omega );
00061
00062 #endif //_REC_ROBOTINO_COM_C_OMNIDRIVE_H_