30 #ifndef _REC_ROBOTINO_API2_OMNIDRIVE_H_ 31 #define _REC_ROBOTINO_API2_OMNIDRIVE_H_ 33 #include "rec/robotino/api2/defines.h" 34 #include "rec/robotino/api2/ComObject.h" 53 #ifdef REC_ROBOTINO_API2_CLASS_ATTRIBUTE 54 REC_ROBOTINO_API2_CLASS_ATTRIBUTE
58 friend class OmniDriveImpl;
73 void setComId(
const ComId&
id );
81 void setVelocity(
float vx,
float vy,
float omega );
93 void getDriveLayout(
double* rb,
double* rw,
double* fctrl,
double* gear,
double* mer );
105 virtual void driveLayoutChangedEvent(
double rb,
double rw,
double fctrl,
double gear,
double mer );
108 OmniDriveImpl* _impl;
113 #endif //_REC_ROBOTINO_API2_OMNIDRIVE_H_ Calculates motor velocities for the omni drive.
Definition: OmniDrive.h:52
The base class for all Robotino objects.
Definition: ComObject.h:44
Definition: AnalogInput.h:36
The id of a Com object.
Definition: ComId.h:48