62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
/*
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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/chassis/controller/chassisScales.hpp"
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#include "okapi/api/chassis/model/readOnlyChassisModel.hpp"
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#include "okapi/api/odometry/odomState.hpp"
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#include "okapi/api/odometry/stateMode.hpp"
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namespace okapi {
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class Odometry {
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public:
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/**
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* Odometry. Tracks the movement of the robot and estimates its position in coordinates
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* relative to the start (assumed to be (0, 0, 0)).
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*/
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explicit Odometry() = default;
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virtual ~Odometry() = default;
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/**
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* Sets the drive and turn scales.
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*/
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virtual void setScales(const ChassisScales &ichassisScales) = 0;
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/**
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* Do one odometry step.
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*/
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virtual void step() = 0;
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/**
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* Returns the current state.
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*
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* @param imode The mode to return the state in.
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* @return The current state in the given format.
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*/
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virtual OdomState getState(const StateMode &imode = StateMode::FRAME_TRANSFORMATION) const = 0;
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/**
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* Sets a new state to be the current state.
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*
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* @param istate The new state in the given format.
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* @param imode The mode to treat the input state as.
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*/
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virtual void setState(const OdomState &istate,
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const StateMode &imode = StateMode::FRAME_TRANSFORMATION) = 0;
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/**
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* @return The internal ChassisModel.
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*/
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virtual std::shared_ptr<ReadOnlyChassisModel> getModel() = 0;
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/**
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* @return The internal ChassisScales.
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*/
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virtual ChassisScales getScales() = 0;
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};
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} // namespace okapi
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