odom.hpp

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#pragma once
 
#include <ros/time.h>
#include <iostream>
 
namespace quori_holonomic_drive_controller
{
  class Odom
  {
  public:
  Odom(const ros::Time &stamp, const double wheel_separation, const double wheel_radius);
    Odom update(const ros::Time &stamp, const double left_vel, const double right_vel, const double turret_pos) const;
 
    double getX() const;
    double getY() const;
    double getHeading() const;
 
    double getVelX() const;
    double getVelY() const;
    double getVelHeading() const;
 
    static Odom zero(const ros::Time &stamp, const double wheel_separation, const double wheel_radius);
 
  private:
    
 
    ros::Time stamp_;
 
    double wheel_separation_;
    double wheel_radius_;
 
    double x_;
    double y_;
    double heading_;
    double heading_offset_;
 
    double vel_x_;
    double vel_y_;
    double vel_heading_;
  };
}
 
std::ostream &operator <<(std::ostream &o, const quori_holonomic_drive_controller::Odom &odom);