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#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
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