chassisScales.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/units/QAngle.hpp"
#include "okapi/api/units/QLength.hpp"
#include "okapi/api/units/RQuantity.hpp"
#include "okapi/api/util/logging.hpp"
#include <initializer_list>
#include <stdexcept>
#include <vector>
 
namespace okapi {
class ChassisScales {
  public:
  ChassisScales(const std::initializer_list<QLength> &idimensions,
                double itpr,
                const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
 
  ChassisScales(const std::initializer_list<double> &iscales,
                double itpr,
                const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
 
  QLength wheelDiameter;
  QLength wheelTrack;
  QLength middleWheelDistance;
  QLength middleWheelDiameter;
  double straight;
  double turn;
  double middle;
  double tpr;
 
  protected:
  static void validateInputSize(std::size_t inputSize, const std::shared_ptr<Logger> &logger);
};
} // namespace okapi