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33 lines
780 B
C++
33 lines
780 B
C++
#ifndef CATCHPOINT_H
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#define CATCHPOINT_H
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#include "vector3f.h"
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#include "vector2f.h"
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#include "parameter.h"
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#include "matrix2f.h"
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#include "moveInfo.h"
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#include "ps2_controller.h"
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#include <string>
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class CatchPoint
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{
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public:
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CatchPoint(const Vector3f &p=Vector3f(0,0,ARM_LENGTH_1+ARM_LENGTH_2)) : target3(p), o(Vector3f::ZERO)
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{
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};
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~CatchPoint() = default;
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void move(const PS2Controller &ps2);
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bool solution(double Eps);
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void setSteerInfo();
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std::string getSteerInfo();
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private:
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void calculateJacobi(Matrix2f &jacobi,Vector2f &f,Vector2f &sol);
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Vector3f target3;
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Vector2f target2;
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double angle_base;
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Vector2f angle;
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Vector3f o;
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MoveInfo steer_base;
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MoveInfo steer_1;
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MoveInfo steer_2;
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};
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#endif // CATCHPOINT_H
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