00001 #ifndef ODOMETRYREADING_H 00002 #define ODOMETRYREADING_H 00003 00004 #include <string.h> 00005 #include <sensor/sensor_base/sensorreading.h> 00006 #include <utils/point.h> 00007 #include "odometrysensor.h" 00008 00009 namespace GMapping{ 00010 00011 class OdometryReading: public SensorReading{ 00012 public: 00013 OdometryReading(const OdometrySensor* odo, double time=0); 00014 inline const OrientedPoint& getPose() const {return m_pose;} 00015 inline const OrientedPoint& getSpeed() const {return m_speed;} 00016 inline const OrientedPoint& getAcceleration() const {return m_acceleration;} 00017 inline void setPose(const OrientedPoint& pose) {m_pose=pose;} 00018 inline void setSpeed(const OrientedPoint& speed) {m_speed=speed;} 00019 inline void setAcceleration(const OrientedPoint& acceleration) {m_acceleration=acceleration;} 00020 00021 protected: 00022 OrientedPoint m_pose; 00023 OrientedPoint m_speed; 00024 OrientedPoint m_acceleration; 00025 }; 00026 00027 }; 00028 #endif 00029