dynamics2d_differentialsteering_control.h

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#ifndef DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
#define DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
 
namespace argos {
   class CDynamics2DEngine;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_velocity_control.h>
#include <argos3/core/utility/math/vector2.h>
 
namespace argos {
 
   class CDynamics2DDifferentialSteeringControl : public CDynamics2DVelocityControl {
 
   public:
      
      CDynamics2DDifferentialSteeringControl(CDynamics2DEngine& c_engine,
                                             Real f_max_force,
                                             Real f_max_torque,
                                             Real f_interwheel_distance,
                                             TConfigurationNode* t_node = NULL);
 
      virtual ~CDynamics2DDifferentialSteeringControl() {}
 
      void SetWheelVelocity(Real f_left_wheel,
                            Real f_right_wheel);
 
      inline Real GetInterwheelDistance() const {
         return m_fInterwheelDistance;
      }
 
   private:
 
      Real m_fInterwheelDistance;
 
   };
 
}
 
#endif