#pragma once

/********************************************************************
	created:	2008/03/23
	created:	23:3:2008   22:47
	filename: 	c:\RoboCupSimu\DynamicPathPlan\DynamicPathPlan\RobotMathmaticalModel.h
	file path:	c:\RoboCupSimu\DynamicPathPlan\DynamicPathPlan
	file base:	RobotMathmaticalModel
	file ext:	h
	author:		GaoYang
	
	purpose:	描述機器人數學模型類，包含了運動模型等
*********************************************************************/
#include "RobotSafeLimit.h"
class CRobotMathmaticalModel:public CRobotSafeLimit
{
public:
	CRobotMathmaticalModel(void);
public:
	virtual~CRobotMathmaticalModel(void);
	
public:
	// 速度運動模型，用機器人的線速度、角速度計算左右輪速
	bool VelocityMotionModel(float LinearVel, float AngularVel,float RobotWidth);
	double m_dLeftSpeed,m_dRightSpeed;///<機器人左右輪速
};