public RobotTwoWheelState GetCurrentState(RobotTwoWheelCommand currentCommand) { RobotWheelModel rightW = new RobotWheelModel(rWheelPos, rWheelVel, rWheelAccel); RobotWheelModel leftW = new RobotWheelModel(lWheelPos, lWheelVel, lWheelAccel); RobotTwoWheelState state = new RobotTwoWheelState(curPose, currentCommand, rightW, leftW); return new RobotTwoWheelState(state, currentCommand); }
public RobotTwoWheelState(RobotTwoWheelState toCopy, RobotTwoWheelCommand command) { //deep copy the class this.pose = new RobotPose(toCopy.pose); this.rightWheel = new RobotWheelModel(toCopy.rightWheel); this.leftWheel = new RobotWheelModel(toCopy.leftWheel); this.command = command; }
public RobotWheelModel(RobotWheelModel toCopy) { this.accel = toCopy.accel; this.vel = toCopy.vel; this.pos = toCopy.pos; }
public RobotTwoWheelState(RobotPose initialPose, RobotTwoWheelCommand initialCommand, RobotWheelModel right, RobotWheelModel left) { this.pose = initialPose; this.command = initialCommand; rightWheel = new RobotWheelModel(right); leftWheel = new RobotWheelModel(left); }