/*
 * © Copyright 2014 – Urheberrechtshinweis
 * Alle Rechte vorbehalten / All Rights Reserved
 *
 * Programmcode ist urheberrechtlich geschuetzt.
 * Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
 * Keine Verwendung ohne explizite Genehmigung.
 * (vgl. § 106 ff UrhG / § 97 UrhG)
 */

#ifndef WALKSTATEHEADING_H
#define WALKSTATEHEADING_H

#include "../../../../geo/Heading.h"

/**
 * base-class e.g. needed for GridWalkHeading and GridWalkHeadingControl to work
 */
struct WalkStateHeading {

	/** used for better naming: heading.error instead of headingError */
	struct _Heading {

		/**
		 * the direction [0:2pi] the walk should move to
		 * e.g. indiciated by:
		 *		compass
		 *		integration over gyroscope values
		 */
		Heading direction;

		/**
		 * (cumulative) error between walked edges and requested direction (above).
		 * is used to ensure that (even though the grid contains only 45° edges) we
		 * approximately walk into the requested direction.
		 */
		float error = 0;

		/** ctor */
		_Heading(const Heading direction, const float error) : direction(direction), error(error) {;}

	} heading;




	/** ctor */
	explicit WalkStateHeading(const Heading& direction, const float error) : heading(direction, error) {;}

};



#endif // WALKSTATEHEADING_H