odometry-ssm.h

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
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#ifndef __AUXLIB_ODOMETRY_SSM_H
#define __AUXLIB_ODOMETRY_SSM_H

#ifdef __cplusplus
extern "C" {
#endif  // __cplusplus

int OdometrySSM_init(void);
int SSM_get_pos_GL_time(double time, double *x, double *y, double *theta);
int SSM_get_pos_BS_time(double time, double *x, double *y, double *theta);
double SSM_get_pos_GL(double *x, double *y, double *theta);
double SSM_get_pos_BS(double *x, double *y, double *theta);
double SSM_get_vel(double *v, double *w);
int SSM_near_pos_GL(double x, double y, double r);
int SSM_near_ang(double th, double d);
int SSM_over_line(double x, double y, double theta);

#ifdef __cplusplus
}
#endif  // __cplusplus
#endif  // __AUXLIB_ODOMETRY_SSM_H