rc2007-soccer/source/Concept/Framework/modules/interpreter/position_tracker.h

#ifndef _POSITION_TRACKER_H
#define _POSITION_TRACKER_H

#include "../../stdafx.h"

class Position_Tracker : public IO_Module
{
public:
	Position_Tracker()
	{
		this->parent = NULL;
		this->moduleId = 0;
		this->positionX = 0;
		this->positionY = 0;
		this->orientation = 0;
	}

	Position_Tracker(uint32 trackerId)
	{
		this->parent = NULL;
		this->moduleId = trackerId;
		this->positionX = 0;
		this->positionY = 0;
		this->orientation = 0;
	}

protected:
	float positionX;
	float positionY;
	float orientation;

public:
	void Update();

	// Sets the current position; x and y in mm
	void SetPosition(int newPositionX, int newPositionY, float newOrientation) {
		positionX = newPositionX*(TICKS_PER_CM/10.0f);
		positionY = newPositionY*(TICKS_PER_CM/10.0f);
		orientation = easyAngle(newOrientation);
	}

	// returns x-koordinate in mm
	int16 GetPositionX() 
	{
		return (int16)((positionX*10.0f)/TICKS_PER_CM);
	}

	// returns y-koordinate in mm
	int16 GetPositionY() 	
	{
		return (int16)((positionY*10.0f)/TICKS_PER_CM);
	}

	// returns orientation
	float GetOrientation()
	{
		return orientation;
	}
};

#endif