From c220de6f70051797e9d8b371830d06def9dc9cbd Mon Sep 17 00:00:00 2001
From: LYW <leeyeanwoo@diteam.co.kr>
Date: 목, 30 6월 2022 11:02:23 +0900
Subject: [PATCH] 검사기 RawMessenger 동기화
---
ReviewHistory/include/akCore/akTrajectoryModel.h | 66 +++++++++++++++++++++++++++++++++
1 files changed, 66 insertions(+), 0 deletions(-)
diff --git a/ReviewHistory/include/akCore/akTrajectoryModel.h b/ReviewHistory/include/akCore/akTrajectoryModel.h
new file mode 100644
index 0000000..3e4c1af
--- /dev/null
+++ b/ReviewHistory/include/akCore/akTrajectoryModel.h
@@ -0,0 +1,66 @@
+#pragma once
+
+
+#include "akCoreLinker.h"
+#include "akStruct.h"
+#include "akDE.h"
+#include <vector>
+namespace akCore
+{
+ struct _Waypoint
+ {
+ double x;
+ double y;
+ double z;
+ double speed;
+ };
+
+ class AKCORE_DLLSPEC CakTrajcetoryModel
+ {
+ public:
+ CakTrajcetoryModel(void);
+ ~CakTrajcetoryModel(void);
+
+ public:
+ virtual int calculate(float dTime); //더이상 계산할 경로점이 없을 경우 2를 반환
+ void setCurrentByWaypoint(int nWaypointIndex); //현재값을 경로점 기준으로 셋팅
+
+
+
+ public:
+ //현재 값
+ akVector3d m_position; //위치
+ akVector3d m_rotate; //자세
+ double m_velocity; //속도
+ double m_acc; //가속도
+ akVector3d m_rotateAcc; //각속도
+
+ //부여 받은 명령 설정
+ akVector3d m_TaskPosition;
+ double m_TaskVelocity;
+ double m_TaskAcc;
+
+ //객체 정보 관리
+ double mass; //무게
+ double maxSpeed; //최대 속도
+ double minSpeed; //최저 속도
+ double maxAcceleration; //가속도
+ double maxDeceleration; //감속도
+
+ akVector3d m_rotateVelRate;
+
+ //경로점 관리
+ public:
+ int m_nWaypointType; //0 마지막 경로점이면 끝낸다, 1경로점 순회, 2경로점 왕복
+ int m_nWaypointSet; //현재 설정된 경로점
+ std::vector<_Waypoint> m_vecWaypoint;
+
+
+ protected:
+ void getAngle3d(double x1, double y1, double z1, double x2, double y2, double z2, double* heading, double* pitch);
+ double getHeading(double x , double y);
+ protected:
+ CakDE m_movementmodel;
+ };
+
+}
\ No newline at end of file
--
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