wheel.cpp

00001 #include "wheel.h"
00002 
00003 Wheel::Wheel() :
00004     radian(0),
00005     distance(1.0)
00006 {
00007 }
00008 
00009 Wheel::Wheel(double radian) :
00010     radian(radian),
00011     distance(1.0)
00012 {
00013 }
00014 
00015 Wheel::Wheel(double radian, double distance) :
00016     radian(radian),
00017     distance(distance)
00018 {
00019 }
00020 
00021 Wheel::Wheel(const Wheel &a) :
00022     radian(a.radian),
00023     distance(a.distance)
00024 {
00025 }
00026 
00027 Wheel &Wheel::operator=(const Wheel &a)
00028 {
00029     if(this != &a) {
00030         radian = a.radian;
00031         distance = a.distance;
00032     }
00033     return *this;
00034 }
00035 
00036 Wheel &Wheel::operator=(double value)
00037 {
00038     setOutput(value);
00039     return *this;
00040 }
00041 
00042 Wheel &Wheel::operator=(float value)
00043 {
00044     setOutput(value);
00045     return *this;
00046 }
00047 
00048 Wheel::operator double()
00049 {
00050     return output;
00051 }
00052 
00053 Wheel::operator float()
00054 {
00055     return float(output);
00056 }
00057 
00058 void Wheel::setRadian(double tRadian)
00059 {
00060     radian = tRadian;
00061 }
00062 
00063 void Wheel::setDistance(double tDistance)
00064 {
00065     distance = tDistance;
00066 }
00067 
00068 void Wheel::setOutput(double value)
00069 {
00070     output = value;
00071 }
00072 
00073 double Wheel::calculateShift(double r, double theta)
00074 {
00075     outputShift = sin(theta - radian) * r;
00076     return outputShift;
00077 }
00078 
00079 double Wheel::calculateRotate(double X, double Y, double value)
00080 {
00081     outputRotate = fabs(X + tan(radian) * Y - cos(radian) - sin(radian) * tan(radian)) / hypot(1.0, tan(radian));
00082     outputRotate *= value;
00083     if(Y > 0) {
00084         if(Y > (-1 * (X - sin(radian) * tan(radian))) / tan(radian)) outputRotate *= -1;
00085     }
00086     if(Y < 0) {
00087         if(Y < (-1 * (X - sin(radian) * tan(radian))) / tan(radian)) outputRotate *= -1;
00088     }
00089     return outputRotate;
00090 }
00091 
00092 double Wheel::getOutput()
00093 {
00094     return output;
00095 }