Diff: shared/OdometryWheel/OdometryWheel.h

Revision:

0:ee7e9405e1c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/OdometryWheel/OdometryWheel.h	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,41 @@
+#ifndef ODMETRYWHEEL_H_
+#define ODMETRYWHEEL_H_
+
+#ifndef _USE_MATH_DEFINES
+#define _USE_MATH_DEFINES
+#endif
+#include <math.h>
+
+#include <shared/OdometryUnit/OdometryUnit.h>
+#include <shared/QEI/QEI.h>
+
+#define EIGEN_NO_DEBUG // コード内のassertを無効化．
+#include <Core.h>
+
+#define M_PI 3.14159265358979323846
+
+class OdometryWheel : public OdometryUnit
+{
+public:
+	OdometryWheel(QEI *qei, double wheel_angle, double wheel_radius, double position_angle, double position_radius);
+	virtual ~OdometryWheel(){};
+
+	virtual Eigen::Vector3d get_coefficient_elements();
+	virtual double read_wheel_velocity();
+
+	enum CoefficientElements{
+		X,
+		Y,
+		Yaw
+	};
+
+private:
+	void _calculate_coefficient_elements();
+
+	QEI *_qei;
+	Eigen::Vector3d _coefficient_elements;
+
+	double _wheel_angle, _wheel_radius, _position_angle, _position_radius;
+};
+
+#endif