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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <string>
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#include <gazebo/transport/transport.hh>
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#include "SpeedController.h"
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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namespace frc {
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class SimContinuousOutput {
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private:
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gazebo::transport::PublisherPtr pub;
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double speed;
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public:
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explicit SimContinuousOutput(std::string topic);
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/**
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* Set the output value.
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*
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* The value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value.
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*
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* @param value The value between -1.0 and 1.0 to set.
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*/
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void Set(double value);
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/**
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* @return The most recently set value.
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*/
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double Get();
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};
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} // namespace frc
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