Odometry.h

00001 #ifndef ODOMETRY2_H
00002 #define ODOMETRY2_H
00003 
00004 #include "mbed.h"
00005 #include "QEI.h"
00006 
00007 class Odometry
00008 {
00009     public:
00010         Odometry(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
00011         
00012         void setPos(float x, float y, float theta);
00013         void setX(float x);
00014         void setY(float y);
00015         void setTheta(float theta);
00016         
00017         float getX() {return x;}
00018         float getY() {return y;}
00019         float getTheta() {return theta;} // ]-PI;PI]
00020         
00021         float getVitLeft() {return m_vitLeft;}
00022         float getVitRight() {return m_vitRight;}
00023         
00024         float getDistLeft() {return m_distLeft;}
00025         float getDistRight() {return m_distRight;}
00026         
00027         void setDistLeft(float dist) {m_distLeft = dist;}
00028         void setDistRight(float dist) {m_distRight = dist;}
00029         
00030         void update(float dt);
00031         
00032         int getPulsesLeft(void) {return m_pulses_left;}
00033         int getPulsesRight(void) {return m_pulses_right;}
00034     
00035     private:
00036         QEI* m_qei_left;
00037         int m_pulses_left;
00038         QEI* m_qei_right;
00039         int m_pulses_right;
00040         
00041         float x, y, theta;
00042         float m_vitLeft, m_vitRight;
00043         float m_distLeft, m_distRight;
00044         
00045         float m_distPerTick_left, m_distPerTick_right, m_v;
00046 };
00047 
00048 #endif