33 lines
736 B
C++
33 lines
736 B
C++
//
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// Created by KonstantinViesure on 26.05.22.
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//
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#ifndef COMPLIB_SERVER_GOTOCONTROLLER_HPP
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#define COMPLIB_SERVER_GOTOCONTROLLER_HPP
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class GoToController {
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public:
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static GoToController &getInstance() {
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static GoToController instance;
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return instance;
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}
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GoToController(GoToController const &) = delete;
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void operator=(GoToController const &) = delete;
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static void drive_distance(double distance_m, double v_ms);
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static void turn_degrees(double angle_deg, double v_rad_s);
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static void go_to_point(double goal_x, double goal_y, double v_ms);
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static void diff_drive_inverse_kinematics(double v_m_s, double w_rad_s);
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private:
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GoToController() = default;
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};
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#endif //COMPLIB_SERVER_GOTOCONTROLLER_HPP
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