odometryreading.h

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#ifndef ODOMETRYREADING_H
#define ODOMETRYREADING_H

#include <string.h>
#include <gmapping/sensor/sensor_base/sensorreading.h>
#include <gmapping/utils/point.h>
#include "odometrysensor.h"

namespace GMapping{

class OdometryReading: public SensorReading{
        public:
                OdometryReading(const OdometrySensor* odo, double time=0);
                inline const OrientedPoint& getPose() const {return m_pose;}
                inline const OrientedPoint& getSpeed() const {return m_speed;}
                inline const OrientedPoint& getAcceleration() const {return m_acceleration;}
                inline void setPose(const OrientedPoint& pose) {m_pose=pose;}
                inline void setSpeed(const OrientedPoint& speed) {m_speed=speed;}
                inline void setAcceleration(const OrientedPoint& acceleration) {m_acceleration=acceleration;}
                
        protected:
                OrientedPoint m_pose;
                OrientedPoint m_speed;
                OrientedPoint m_acceleration;
};

};
#endif