OmniWheel.cpp

00001 // Mbed Library
00002 #include <vector>
00003 // Header File
00004 #include "OmniWheel.h"
00005 
00006 using namespace std;
00007 
00008 // Constructor
00009 OmniWheel::OmniWheel() {
00010 }
00011 
00012 // Destructor
00013 OmniWheel::~OmniWheel() {
00014 }
00015 
00016 // Function
00017 void OmniWheel::clear() {
00018     this->vel.clear();
00019     this->rpm.clear();
00020     this->pwm.clear();
00021 }
00022 
00023 // -> Getter
00024 int OmniWheel::getWheelNum() {
00025     return this->wheel_num;
00026 }
00027 
00028 vector<double> OmniWheel::getVel() {
00029     return this->vel;
00030 }
00031 
00032 vector<double> OmniWheel::getRpm() {
00033     return this->rpm;
00034 }
00035 
00036 vector<double> OmniWheel::getPwm() {
00037     return this->pwm;
00038 }
00039 
00040 // -> Setter
00041 void OmniWheel::setWheelNum(int _wheel_num) {
00042     this->wheel_num = _wheel_num;
00043 }
00044 
00045 void OmniWheel::setVel(double _vel) {
00046     this->vel.push_back(_vel);
00047 }
00048 
00049 void OmniWheel::setRpm(double _rpm) {
00050     this->rpm.push_back(_rpm);
00051 }
00052 
00053 void OmniWheel::setPwm(double _pwm) {
00054     this->pwm.push_back(_pwm);
00055 }