keyboard.hpp

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#ifndef QTCTRL_KEYBOARD_CTRL
#define QTCTRL_KEYBOARD_CTRL

#include <ctrl/controller.hpp>

class KbdCtrl : public Controller {
  double moving_factor;
  double turning_factor;
   
public:
  KbdCtrl(const MotionModel& model, const double& ts)
    : Controller(model, ts) {}
  
  virtual ~KbdCtrl() {}
  
  void stopRotation()  { turning_velocity = 0; }

  void stopTranslation()  { moving_velocity = 0; }

  void acc(const int transFact, const int rotFact)  {
    turning_factor = (rotFact > 1 ? 1 : rotFact < -1 ? -1 : rotFact);
    moving_factor = (transFact > 1 ? 1 : transFact < -1 ? -1
                     : transFact);
  }

  // Cf Controller::chooseVelocities(...)
  void chooseVelocities(double& trans_vel, double& rot_vel,
                        std::ostream& log_str) {
    motion_model.applyAccelerationFactors
      (moving_velocity, turning_velocity,
       moving_factor, turning_factor, time_step); /*
    log_str << "+(" << moving_factor << " x, " << turning_factor 
    << " x, " << time_step << ")"; */
    updateVelocities(trans_vel, rot_vel);
  }
  
}; // end of class KbdCtrl

#endif // QTCTRL_KEYBOARD_CTRL