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