DifferentialWheeled.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2016 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://home.gna.org/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_DIFFERENTIAL_WHEELED_H
#define __ENKI_DIFFERENTIAL_WHEELED_H

#include <enki/PhysicalEngine.h>

namespace Enki
{
    class DifferentialWheeled: public virtual Robot
    {
    public:
        double leftSpeed;
        double rightSpeed;
        
        double leftEncoder;
        double rightEncoder;
        double leftOdometry;
        double rightOdometry;
        
    protected:
        double distBetweenWheels;
        double maxSpeed;
        double noiseAmount;
        
    private:
        double cmdAngSpeed;
        double cmdSpeed;
        
    public:
        DifferentialWheeled(double distBetweenWheels, double maxSpeed, double noiseAmount);
        
        void resetEncoders();
        
        virtual void controlStep(double dt);
        virtual void applyForces(double dt);
    };
}

#endif