Differential_drive.h

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#ifndef HRK_DIFFERENTIAL_DRIVE_H
#define HRK_DIFFERENTIAL_DRIVE_H

#include <memory>
#include "PositionF.h"


namespace hrk
{
    class Differential_drive
    {
    public:
        Differential_drive();
        ~Differential_drive();

        void set_count_per_1m(int count);

        void set_count_per_1rotate(int count);

        void update_position(int left_difference, int right_difference,
                             double timestamp);

        std::pair<double, double> update_control(double timestamp);

        bool set_straight_velocity(double m_per_sec);

        double straight_velocity() const;

        bool set_rotate_velocity(const Angle& angle_per_sec);

        Angle rotate_velocity() const;

        bool set_straight_acceleration(double m_per_sec2);

        bool set_rotate_acceleration(const Angle& angle_per_sec2);

        bool set_straight_tiny_acceleration(double m_per_sec2);

        bool set_rotate_tiny_acceleration(const Angle& angle_per_sec2);

        bool set_path_tiny_difference(double m);

        PositionF position();

        std::pair<double, double> wheels_velocity();

        bool set_position(const PositionF& position);

        double path_change_distance();

        bool is_stable();

        bool follow_line(const PositionF& line);

        bool follow_circle(const PointF& center, double radius);

        bool stop_to_line(const PositionF& line);

        bool spin(const Angle& spin_angle);

        bool spin_to_direction(const Angle& target_angle);

        bool stop();

        bool control_wheel_velocity(double right_m_per_sec,
                                    double left_m_per_sec);

    private:
        Differential_drive(const Differential_drive& rhs);
        Differential_drive& operator = (const Differential_drive& rhs);

        struct pImpl;
        std::auto_ptr<pImpl> pimpl;
    };
}

#endif