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38 lines
1007 B
C++
38 lines
1007 B
C++
#ifndef VEHICLE_CONTROLLER_HH
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#define VEHICLE_CONTROLLER_HH
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#include <vector>
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#include "Guidance/include/point.hh"
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#include "Guidance/include/navigator.hh"
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#include "Control/include/differentialDriveController.hh"
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#ifndef PI
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#define PI 3.141592653589793
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#endif
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class VehicleController {
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public:
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VehicleController(std::vector<Point>* waypointQueue,
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Navigator& navigator,
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DifferentialDriveController& driveController,
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double arrival_distance);
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int getCurrentDestination(Point& currentDestination);
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void setWayPointQueue( std::vector<Point>* waypointQueue );
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void printDestination();
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void update();
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private:
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// Do not allow the default constructor to be used.
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VehicleController();
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std::vector<Point>* waypointQueue;
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std::vector<Point>::iterator destination;
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Point departure;
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Navigator& navigator;
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DifferentialDriveController& driveController;
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double arrivalDistance;
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};
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#endif
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