Takeuchi Issei
/
4Omunisleeve3
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shared/DamyMovement/DamyMovement.h@0:ee7e9405e1c7, 2021-04-14 (annotated)
- Committer:
- e2011220
- Date:
- Wed Apr 14 07:26:19 2021 +0000
- Revision:
- 0:ee7e9405e1c7
first
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| e2011220 | 0:ee7e9405e1c7 | 1 | #ifndef DAMY_MOVEMENT_H_ |
| e2011220 | 0:ee7e9405e1c7 | 2 | #define DAMY_MOVEMENT_H_ |
| e2011220 | 0:ee7e9405e1c7 | 3 | |
| e2011220 | 0:ee7e9405e1c7 | 4 | #include <shared/Movement/Movement.h> |
| e2011220 | 0:ee7e9405e1c7 | 5 | |
| e2011220 | 0:ee7e9405e1c7 | 6 | class DamyMovement : public Movement |
| e2011220 | 0:ee7e9405e1c7 | 7 | { |
| e2011220 | 0:ee7e9405e1c7 | 8 | public: |
| e2011220 | 0:ee7e9405e1c7 | 9 | virtual ~DamyMovement(){} |
| e2011220 | 0:ee7e9405e1c7 | 10 | virtual void move(double x, double y, double yaw) |
| e2011220 | 0:ee7e9405e1c7 | 11 | { |
| e2011220 | 0:ee7e9405e1c7 | 12 | Eigen::Vector3d speed_move; |
| e2011220 | 0:ee7e9405e1c7 | 13 | speed_move << x, y, yaw; |
| e2011220 | 0:ee7e9405e1c7 | 14 | _speed_move = speed_move; |
| e2011220 | 0:ee7e9405e1c7 | 15 | } |
| e2011220 | 0:ee7e9405e1c7 | 16 | Eigen::Vector3d get_speed_move() |
| e2011220 | 0:ee7e9405e1c7 | 17 | { |
| e2011220 | 0:ee7e9405e1c7 | 18 | return _speed_move; |
| e2011220 | 0:ee7e9405e1c7 | 19 | } |
| e2011220 | 0:ee7e9405e1c7 | 20 | private: |
| e2011220 | 0:ee7e9405e1c7 | 21 | Eigen::Vector3d _speed_move; |
| e2011220 | 0:ee7e9405e1c7 | 22 | }; |
| e2011220 | 0:ee7e9405e1c7 | 23 | |
| e2011220 | 0:ee7e9405e1c7 | 24 | #endif |