Create Velocities.hpp

cpp/Velocities.hpp

@@ -0,0 +1,93 @@
+/**
+* 
+* Velocities.hpp - C++ header for Velocities class
+*
+* Copyright (C) 2014 Simon D. Levy
+
+* This code is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as 
+* published by the Free Software Foundation, either version 3 of the 
+* License, or (at your option) any later version.
+* 
+* This code is distributed in the hope that it will be useful,     
+* but WITHOUT ANY WARRANTY without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+* 
+* You should have received a copy of the GNU Lesser General Public License 
+* along with this code.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <math.h>
+
+#include <iostream>
+#include <vector>
+using namespace std; 
+
+
+/**
+* A class representing the forward and angular velocities of a robot.
+*/
+class Velocities 
+{    
+    friend class Scan;
+    
+public:
+    
+/**
+* Creates a new Velocities object with specified velocities.
+*/
+Velocities(double dxy_mm, double dtheta_degrees, double dtSeconds)
+{
+    this->dxy_mm = dxy_mm;
+    this->dtheta_degrees = dtheta_degrees;
+    this->dt_seconds = dtSeconds;
+}
+
+/**
+* Creates a new Velocities object with zero velocities.
+*/
+Velocities(void)
+{
+    this->dxy_mm = 0;
+    this->dtheta_degrees = 0;
+    this->dt_seconds = 0;
+}
+
+
+
+/**
+* Updates this Velocities object.
+* @param dxy_mm new forward distance traveled in millimeters
+* @param dtheta_degrees new angular rotation in degrees
+* @param dtSeconds time in seconds since last velocities
+*/
+void update(double dxy_mm, double dtheta_degrees, double dtSeconds)
+{
+    double velocity_factor = (dtSeconds > 0) ?  (1 / dtSeconds) : 0;
+    
+    this->dxy_mm = dxy_mm * velocity_factor;
+    
+    this->dtheta_degrees = dtheta_degrees * velocity_factor;
+}
+
+friend ostream& operator<< (ostream & out, Velocities & velocities)
+{
+    char str[100];
+    
+    sprintf(str, "<dxy=%7.0f mm dtheta = %+3.3f degrees dt = %f s",
+        velocities.dxy_mm, 
+        velocities.dtheta_degrees,
+        velocities.dt_seconds);
+    
+    out << str;
+    
+    return out;
+}
+
+
+double dxy_mm;
+double dtheta_degrees;
+double dt_seconds;
+};