gz/math/MecanumDriveOdometry.hh

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/*
 * Copyright (C) 2022 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_MECANUMDRIVEODOMETRY_HH_
#define GZ_MATH_MECANUMDRIVEODOMETRY_HH_
 
#include <chrono>
#include <memory>
#include <gz/math/Angle.hh>
#include <gz/math/Export.hh>
#include <gz/math/config.hh>
 
namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    // Forward declarations.
    class MecanumDriveOdometryPrivate;
 
    class IGNITION_MATH_VISIBLE MecanumDriveOdometry
    {
      // Use a steady clock
      public: using clock = std::chrono::steady_clock;
 
      public: explicit MecanumDriveOdometry(size_t _windowSize = 10);
 
      public: ~MecanumDriveOdometry();
 
      public: void Init(const clock::time_point &_time);
 
      public: bool Initialized() const;
 
      public: bool Update(
        const Angle &_frontLeftPos, const Angle &_frontRightPos,
        const Angle &_backLeftPos, const Angle &_backRightPos,
        const clock::time_point &_time);
 
      public: const Angle &Heading() const;
 
      public: double X() const;
 
      public: double Y() const;
 
      public: double LinearVelocity() const;
 
      public: double LateralVelocity() const;
 
      public: const Angle &AngularVelocity() const;
 
      public: void SetWheelParams(double _wheelSeparation, double _wheelBase,
                      double _leftWheelRadius, double _rightWheelRadius);
      public: void SetVelocityRollingWindowSize(size_t _size);
 
      public: double WheelSeparation() const;
 
      public: double WheelBase() const;
 
      public: double LeftWheelRadius() const;
 
      public: double RightWheelRadius() const;
 
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      private: std::unique_ptr<MecanumDriveOdometryPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
    }  // namespace IGNITION_MATH_VERSION_NAMESPACE
  }  // namespace math
}  // namespace ignition
#endif  // GZ_MATH_MECANUMDRIVEODOMETRY_HH_