Diff: wheel.cpp

Revision:

0:952a0ff1bf46

Child:

1:e9b590a5b27a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wheel.cpp	Thu Sep 14 05:51:25 2017 +0000
@@ -0,0 +1,83 @@
+#include "wheel.h"
+
+Wheel::Wheel() :
+    radian(0),
+    distance(1.0)
+{
+}
+
+Wheel::Wheel(double radian) :
+    radian(radian),
+    distance(1.0)
+{
+}
+
+Wheel::Wheel(double radian, double distance) :
+    radian(radian),
+    distance(distance)
+{
+}
+
+Wheel::Wheel(const Wheel &a) :
+    radian(a.radian),
+    distance(a.distance)
+{
+}
+
+Wheel &Wheel::operator=(const Wheel &a)
+{
+    if(this != &a) {
+        radian = a.radian;
+        distance = a.distance;
+    }
+    return *this;
+}
+
+Wheel &Wheel::operator=(double value)
+{
+    setOutput(value);
+    return *this;
+}
+
+Wheel::operator double()
+{
+    return output;
+}
+
+Wheel::operator float()
+{
+    return float(output);
+}
+
+void Wheel::setRadian(double tRadian)
+{
+    radian = tRadian;
+}
+
+void Wheel::setDistance(double tDistance)
+{
+    distance = tDistance;
+}
+
+void Wheel::setOutput(double value)
+{
+    output = value;
+}
+
+double Wheel::calculateShift(double r, double theta)
+{
+    outputShift = sin(theta + radian) * r;
+    return outputShift;
+}
+
+double Wheel::calculateRotate(double X, double Y, double value)
+{
+    outputRotate = fabs(X + tan(radian) * Y - cos(radian) - sin(radian) * tan(radian)) / hypot(1.0, tan(radian));
+    outputRotate *= value;
+    return outputRotate;
+}
+
+double Wheel::getOutput()
+{
+    return output;
+}
\ No newline at end of file