Revision a3c54343 devices/DiWheelDrive/amiro_map.hpp
devices/DiWheelDrive/amiro_map.hpp | ||
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#include "linefollow.hpp" |
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#include <amiroosconf.h> |
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#include <ch.hpp> |
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#include <cstdint> |
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#include <math.h> |
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class AmiroMap { |
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public: |
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map_state * get_state() { return &state; } |
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uint8_t getNodeCount(){ return nodeCount; } |
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node * getNodeList(){return nodeList; } |
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AmiroMap(Global *global) : global{global} {} |
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*/ |
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uint8_t update(uint16_t WL, uint16_t WR, LineFollowStrategy strategy); |
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/** |
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If this is called instead of update new fixpoints can automativally |
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get detected and will be added to the current nodeList. |
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Internally the update will be called. |
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If there are no nodes in the node list they will be created. |
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*/ |
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uint8_t trackUpdate(uint16_t WL, uint16_t WR, LineFollowStrategy strategy, ut_states state); |
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private: |
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Global *global; |
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LineFollowStrategy lfStrategy = LineFollowStrategy::EDGE_RIGHT; |
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