62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
|
/*
|
||
|
|
* This Source Code Form is subject to the terms of the Mozilla Public
|
||
|
|
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
||
|
|
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
||
|
|
*/
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "okapi/api/chassis/controller/chassisScales.hpp"
|
||
|
|
#include "okapi/api/chassis/model/readOnlyChassisModel.hpp"
|
||
|
|
#include "okapi/api/odometry/odomState.hpp"
|
||
|
|
#include "okapi/api/odometry/stateMode.hpp"
|
||
|
|
|
||
|
|
namespace okapi {
|
||
|
|
class Odometry {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* Odometry. Tracks the movement of the robot and estimates its position in coordinates
|
||
|
|
* relative to the start (assumed to be (0, 0, 0)).
|
||
|
|
*/
|
||
|
|
explicit Odometry() = default;
|
||
|
|
|
||
|
|
virtual ~Odometry() = default;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets the drive and turn scales.
|
||
|
|
*/
|
||
|
|
virtual void setScales(const ChassisScales &ichassisScales) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Do one odometry step.
|
||
|
|
*/
|
||
|
|
virtual void step() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Returns the current state.
|
||
|
|
*
|
||
|
|
* @param imode The mode to return the state in.
|
||
|
|
* @return The current state in the given format.
|
||
|
|
*/
|
||
|
|
virtual OdomState getState(const StateMode &imode = StateMode::FRAME_TRANSFORMATION) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets a new state to be the current state.
|
||
|
|
*
|
||
|
|
* @param istate The new state in the given format.
|
||
|
|
* @param imode The mode to treat the input state as.
|
||
|
|
*/
|
||
|
|
virtual void setState(const OdomState &istate,
|
||
|
|
const StateMode &imode = StateMode::FRAME_TRANSFORMATION) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return The internal ChassisModel.
|
||
|
|
*/
|
||
|
|
virtual std::shared_ptr<ReadOnlyChassisModel> getModel() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return The internal ChassisScales.
|
||
|
|
*/
|
||
|
|
virtual ChassisScales getScales() = 0;
|
||
|
|
};
|
||
|
|
} // namespace okapi
|