.. _program_listing_file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_odometry.hpp:

Program Listing for File odometry.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_turtlebot3_node_include_turtlebot3_node_odometry.hpp>` (``/tmp/ws/src/turtlebot3/turtlebot3_node/include/turtlebot3_node/odometry.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 ROBOTIS CO., LTD.
   //
   // 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.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_NODE__ODOMETRY_HPP_
   #define TURTLEBOT3_NODE__ODOMETRY_HPP_
   
   #include <array>
   #include <chrono>
   #include <memory>
   #include <string>
   
   #include <message_filters/subscriber.h>
   #include <message_filters/sync_policies/approximate_time.h>
   #include <message_filters/synchronizer.h>
   #include <tf2_ros/transform_broadcaster.h>
   #include <tf2/LinearMath/Quaternion.h>
   
   #include <geometry_msgs/msg/transform_stamped.hpp>
   #include <nav_msgs/msg/odometry.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   #include <sensor_msgs/msg/joint_state.hpp>
   
   
   namespace robotis
   {
   namespace turtlebot3
   {
   class Odometry
   {
   public:
     explicit Odometry(
       std::shared_ptr<rclcpp::Node> & nh,
       const double wheels_separation,
       const double wheels_radius);
     virtual ~Odometry() {}
   
   private:
     bool calculate_odometry(const rclcpp::Duration & duration);
   
     void update_imu(const std::shared_ptr<sensor_msgs::msg::Imu const> & imu);
     void update_joint_state(const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state);
   
     void joint_state_callback(const sensor_msgs::msg::JointState::SharedPtr joint_state_msg);
   
     void joint_state_and_imu_callback(
       const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state_msg,
       const std::shared_ptr<sensor_msgs::msg::Imu const> & imu_msg);
   
     void publish(const rclcpp::Time & now);
   
     std::shared_ptr<rclcpp::Node> nh_;
     std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   
     rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
     rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;
   
     std::shared_ptr<
       message_filters::Subscriber<sensor_msgs::msg::JointState>> msg_ftr_joint_state_sub_;
     std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::Imu>> msg_ftr_imu_sub_;
   
     typedef message_filters::sync_policies::ApproximateTime<
         sensor_msgs::msg::JointState,
         sensor_msgs::msg::Imu> SyncPolicyJointStateImu;
     typedef message_filters::Synchronizer<SyncPolicyJointStateImu> SynchronizerJointStateImu;
   
     std::shared_ptr<SynchronizerJointStateImu> joint_state_imu_sync_;
   
     double wheels_separation_;
     double wheels_radius_;
   
     std::string frame_id_of_odometry_;
     std::string child_frame_id_of_odometry_;
   
     bool use_imu_;
     bool publish_tf_;
   
     std::array<double, 2> diff_joint_positions_;
     double imu_angle_;
   
     std::array<double, 3> robot_pose_;
     std::array<double, 3> robot_vel_;
   };
   }  // namespace turtlebot3
   }  // namespace robotis
   #endif  // TURTLEBOT3_NODE__ODOMETRY_HPP_