Run_driver.h

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#ifndef HRK_RUN_DRIVER_H
#define HRK_RUN_DRIVER_H

#include "Coordinate.h"


namespace hrk
{
    class Connection;

    class Run_driver : public Locatable
    {
    public:
        static Coordinate* Global;


        virtual ~Run_driver()
        {
        }

        virtual const char* what() const = 0;

        virtual void close() = 0;

        virtual void set_connection(Connection* connection) = 0;

        virtual Connection* connection() = 0;

        virtual void set_straight_velocity(double m_per_sec) = 0;

        virtual double straight_velocity() const = 0;

        virtual void set_rotate_velocity(const Angle& angle_per_sec) = 0;

        virtual Angle rotate_velocity() const = 0;

        virtual void set_straight_acceleration(double m_per_sec2) = 0;

        virtual void set_rotate_acceleration(const Angle& angle_per_sec2) = 0;

        virtual PositionF
            position(const Locatable* coordinate = Global) const = 0;

        virtual void set_position(const PositionF& position,
                                  const Locatable* coordinate = Global) = 0;

        virtual double path_change_distance() = 0;

        virtual bool is_stable() = 0;

        virtual void follow_line(const PositionF& line,
                                 const Locatable* coordinate = Global) = 0;

        virtual void follow_circle(const PointF& center, double radius,
                                   const Locatable* coordinate = Global) = 0;

        virtual void stop_to_line(const PositionF& line,
                                  const Locatable* coordinate = Global) = 0;

        virtual void spin(const Angle& spin_angle) = 0;

        virtual void
            spin_to_direction(const Angle& target_angle,
                              const Locatable* coordinate = Global) = 0;

        virtual void stop() = 0;

        virtual double distance_to(const PointF& point,
                                   const Locatable* coordinate = Global) = 0;

        virtual double
            distance_to_perpendicular(const PositionF& line,
                                      const Locatable* coordinate = Global) = 0;

        virtual Angle angle_to(const Angle& angle,
                               const Locatable* coordinate = Global) = 0;
    };
}

#endif