/home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/OmniDrive.h

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

#ifndef _REC_ROBOTINO_COM_OMNIRIVE_H_
#define _REC_ROBOTINO_COM_OMNIRIVE_H_

#include "rec/robotino/com/Actor.h"

namespace rec
{
        namespace robotino
        {
                namespace com
                {
                        class OmniDriveImpl;

                        class
#ifdef WIN32
#  ifdef rec_robotino_com_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com2_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com3_EXPORTS
                __declspec(dllexport)
#endif
#endif
                        OmniDrive : public Actor
                        {
                        public:
                                OmniDrive();
                                
                                virtual ~OmniDrive();

                                void setVelocity( float vx, float vy, float omega );

                                void project( float* m1, float* m2, float* m3, float vx, float vy, float omega ) const;

                                void unproject( float* vx, float* vy, float* omega, float m1, float m2, float m3 ) const;

                                void setDriveLayout( double rb = 125.0f , double rw = 40.0, double fctrl = 900.0, double gear = 16, double mer = 2000 );

                                void getDriveLayout( double* rb, double* rw, double* fctrl, double* gear, double* mer );

                        private:
                                void updateMotorSpeeds();

                                OmniDriveImpl* _impl;
                        };
                }
        }
}
#endif

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