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- #ifndef SIDEPARKCALC_H
- #define SIDEPARKCALC_H
- #include <math.h>
- enum SideParkMode
- {
- ParkAtLeft =1,
- ParkAtRight =2
- };
- class SideParkCalc
- {
- public:
- SideParkCalc(double x,double y,double hdg);
- public:
- void CalcPark();
- private:
- double mfLastDirectDis = 0.3;
- double mfRaidus = 5.0;
- double mfMaxAngle = 45.0 *M_PI/180.0;
- private:
- double mx,my,mhdg;
- bool mbPark = false;
- private:
- SideParkMode CalcParkMode();
- void ParkAtRightCalc();
- void ParkAtRightCalc_Model1();
- void ParkAtRightCalc_Model2();
- void ParkAtLeftCalc();
- void ParkAtLeftCalc_Model1();
- void ParkAtLeftCalc_Model2();
- };
- #endif // SIDEPARKCALC_H
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