31 lines
827 B
C++
31 lines
827 B
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/odometry/stateMode.hpp"
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#include "okapi/api/units/QLength.hpp"
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namespace okapi {
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struct Point {
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QLength x{0_m};
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QLength y{0_m};
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/**
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* Computes the value of this point in `StateMode::FRAME_TRANSFORMATION`.
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*
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* @param imode The StateMode this Point is currently specified in.
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* @return This point specified in `StateMode::FRAME_TRANSFORMATION`.
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*/
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Point inFT(const StateMode &imode) const {
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if (imode == StateMode::FRAME_TRANSFORMATION) {
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return *this;
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} else {
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return {y, x};
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}
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}
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};
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} // namespace okapi
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