Revision a3c54343 devices/DiWheelDrive/amiro_map.hpp

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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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