tarou yamada
Dependencies: SimpleMapSerialization serial_communication
communication.hpp@2:074942a78af1, 2016-04-03 (annotated)
- Committer:
- inst
- Date:
- Sun Apr 03 06:30:39 2016 +0000
- Revision:
- 2:074942a78af1
- Parent:
- 0:8b0edcbd3b87
- Child:
- 4:24d383b68566
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:8b0edcbd3b87 | 1 | #ifndef INCLUDED_NODE_SYSTEM_COMMUNICATION_H |
| inst | 0:8b0edcbd3b87 | 2 | #define INCLUDED_NODE_SYSTEM_COMMUNICATION_H |
| inst | 0:8b0edcbd3b87 | 3 | |
| inst | 0:8b0edcbd3b87 | 4 | #include "moving_object.hpp" |
| inst | 0:8b0edcbd3b87 | 5 | #include "mbed_stl.hpp" |
| inst | 0:8b0edcbd3b87 | 6 | |
| inst | 0:8b0edcbd3b87 | 7 | class communication { |
| inst | 0:8b0edcbd3b87 | 8 | public: |
| inst | 0:8b0edcbd3b87 | 9 | typedef mbed_stl::linear_algebra::vector2f vector2f; |
| inst | 2:074942a78af1 | 10 | |
| inst | 2:074942a78af1 | 11 | static const int velocity_offset_; |
| inst | 0:8b0edcbd3b87 | 12 | |
| inst | 0:8b0edcbd3b87 | 13 | static communication* instance() { |
| inst | 0:8b0edcbd3b87 | 14 | if (instance_ == NULL) { |
| inst | 0:8b0edcbd3b87 | 15 | instance_ = new communication; |
| inst | 0:8b0edcbd3b87 | 16 | } |
| inst | 0:8b0edcbd3b87 | 17 | return instance_; |
| inst | 0:8b0edcbd3b87 | 18 | } |
| inst | 0:8b0edcbd3b87 | 19 | static void destory() { |
| inst | 0:8b0edcbd3b87 | 20 | delete instance_; |
| inst | 0:8b0edcbd3b87 | 21 | } |
| inst | 0:8b0edcbd3b87 | 22 | node_system::moving_object::CONTROL_MODE get_mode() const; |
| inst | 0:8b0edcbd3b87 | 23 | vector2f get_velocity() const; |
| inst | 2:074942a78af1 | 24 | float get_angular_velocity_rad_per_sec() const; |
| inst | 0:8b0edcbd3b87 | 25 | vector2f get_target_position_mm() const; |
| inst | 2:074942a78af1 | 26 | float get_target_heading_rad() const; |
| inst | 0:8b0edcbd3b87 | 27 | |
| inst | 0:8b0edcbd3b87 | 28 | private: |
| inst | 2:074942a78af1 | 29 | communication(); |
| inst | 0:8b0edcbd3b87 | 30 | ~communication() {} |
| inst | 0:8b0edcbd3b87 | 31 | // singletonにつき禁止のため以下の二つの実装は無し |
| inst | 0:8b0edcbd3b87 | 32 | void operator=(const communication& s); |
| inst | 0:8b0edcbd3b87 | 33 | communication(const communication& s); |
| inst | 0:8b0edcbd3b87 | 34 | |
| inst | 0:8b0edcbd3b87 | 35 | static communication* instance_; |
| inst | 0:8b0edcbd3b87 | 36 | }; |
| inst | 0:8b0edcbd3b87 | 37 | |
| inst | 0:8b0edcbd3b87 | 38 | #endif |