gz/math/DiffDriveOdometry.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_DIFFDRIVEODOMETRY_HH_
#define GZ_MATH_DIFFDRIVEODOMETRY_HH_
 
#include <chrono>
#include <memory>
#include <gz/math/Angle.hh>
#include <gz/math/Export.hh>
#include <gz/math/config.hh>
 
namespace ignition
{
  namespace math
  {
    // Use a steady clock
    using clock = std::chrono::steady_clock;
 
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // Forward declarations.
    class DiffDriveOdometryPrivate;
 
    class IGNITION_MATH_VISIBLE DiffDriveOdometry
    {
      public: explicit DiffDriveOdometry(size_t _windowSize = 10);
 
      public: ~DiffDriveOdometry();
 
      public: void Init(const clock::time_point &_time);
 
      public: bool Initialized() const;
 
      public: bool Update(const Angle &_leftPos, const Angle &_rightPos,
                          const clock::time_point &_time);
 
      public: const Angle &Heading() const;
 
      public: double X() const;
 
      public: double Y() const;
 
      public: double LinearVelocity() const;
 
      public: const Angle &AngularVelocity() const;
 
      public: void SetWheelParams(double _wheelSeparation,
                      double _leftWheelRadius, double _rightWheelRadius);
 
      public: void SetVelocityRollingWindowSize(size_t _size);
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      private: std::unique_ptr<DiffDriveOdometryPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
    }
  }
}
 
#endif