Kick.h

// Kick.h: interface for the Kick class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_KICK_H__5BF0F724_7DD1_41A0_9E0C_8875BF0278B9__INCLUDED_)
#define AFX_KICK_H__5BF0F724_7DD1_41A0_9E0C_8875BF0278B9__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "GeometryR.h"

#define PATHPOINT 2000

class Kick {
public:
	Kick();
	
	void Init(RobotInford robot, VecPosition posTarget, VecPosition posBall);
	
	void SetPathValid(bool bPathValid = true) { m_bPathValid = bPathValid; };
	
	bool GetPathValid() { return m_bPathValid; };
	
	void SetTarget(VecPosition posTarget) { m_posTarget = posTarget; };
	
	VecPosition GetTarget() { return m_posTarget; };
	
	void SetCurvature(double dCurvature) { m_dCurvature = dCurvature; };
	
	void SetCycle(int nCycle = 40) { m_nCycle = nCycle; };
	
	int GetCycle() { return m_nCycle; };
	
	void SetKickParameters(double k1, double k2, double k3) {
		m_dKn[0] = k1;
		m_dKn[1] = k2;
		m_dKn[2] = k3;
	};
	
	void GeneratePath(int nCycle = 40);
	
	void GetNextCommand(dbLRWheelVelocity *pSpeed);

private:
	bool m_bPathValid;
	VecPosition m_posTarget;
	VecPosition m_posBall;
	RobotInford m_robot;
	double m_dCurvature;
	int m_nCycle;
	int m_nKickTime;
	int m_nDirection;
	
	double m_dKn[4];
	
	VecPosition m_posPath[PATHPOINT];
	double m_anglePath[PATHPOINT];
	double m_u[PATHPOINT];
	
	double m_dVr[PATHPOINT];
	double m_dWr[PATHPOINT];
	double e[2][3];
};

#endif // !defined(AFX_KICK_H__5BF0F724_7DD1_41A0_9E0C_8875BF0278B9__INCLUDED_)