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 <gz/math/Angle.hh>
#include <gz/math/Export.hh>
#include <gz/math/config.hh>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
  // Use a steady clock
  using clock = std::chrono::steady_clock;
 
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  class GZ_MATH_VISIBLE DiffDriveOdometry
  {
    public: explicit DiffDriveOdometry(size_t _windowSize = 10);
 
    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);
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_DIFFDRIVEODOMETRY_HH_