swerve_model.hpp

Go to the documentation of this file.

// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include "frcsim/math/vector.hpp"
#include <vector>
 
namespace frcsim {
 
class RigidBody;

struct SwerveModuleState {
    double speed; 
    double angle; 
};

class SwerveModel {
public:
    SwerveModel() = default;
    virtual ~SwerveModel() = default;

    virtual void Update(RigidBody* chassis, const std::vector<SwerveModuleState>& states, double dt) = 0;
};
 
} // namespace frcsim