29 lines
650 B
C++
29 lines
650 B
C++
//
|
|
// Created by KonstantinViesure on 26.05.22.
|
|
//
|
|
|
|
#ifndef COMPLIB_SERVER_GOTOGOALCONTROLLER_HPP
|
|
#define COMPLIB_SERVER_GOTOGOALCONTROLLER_HPP
|
|
|
|
|
|
class GoToGoalController {
|
|
public:
|
|
static GoToGoalController &getInstance() {
|
|
static GoToGoalController instance;
|
|
return instance;
|
|
}
|
|
|
|
GoToGoalController(GoToGoalController const &) = delete;
|
|
|
|
void operator=(GoToGoalController const &) = delete;
|
|
|
|
static void go_to_point(double goal_x, double goal_y, double v_ms);
|
|
|
|
static void diff_drive_inverse_kinematics(double v_m_s, double w_rad_s);
|
|
|
|
private:
|
|
GoToGoalController() = default;
|
|
};
|
|
|
|
|
|
#endif //COMPLIB_SERVER_GOTOGOALCONTROLLER_HPP
|