Takeuchi Issei
/
4Omunisleeve3
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shared/OdometryUnit/OdometryUnit.h@0:ee7e9405e1c7, 2021-04-14 (annotated)
- Committer:
- e2011220
- Date:
- Wed Apr 14 07:26:19 2021 +0000
- Revision:
- 0:ee7e9405e1c7
first
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| e2011220 | 0:ee7e9405e1c7 | 1 | #ifndef ODOMETRY_UNIT_H |
| e2011220 | 0:ee7e9405e1c7 | 2 | #define ODOMETRY_UNIT_H |
| e2011220 | 0:ee7e9405e1c7 | 3 | |
| e2011220 | 0:ee7e9405e1c7 | 4 | #define EIGEN_NO_DEBUG // コード内のassertを無効化． |
| e2011220 | 0:ee7e9405e1c7 | 5 | #include <Core.h> |
| e2011220 | 0:ee7e9405e1c7 | 6 | |
| e2011220 | 0:ee7e9405e1c7 | 7 | class OdometryUnit |
| e2011220 | 0:ee7e9405e1c7 | 8 | { |
| e2011220 | 0:ee7e9405e1c7 | 9 | public: |
| e2011220 | 0:ee7e9405e1c7 | 10 | virtual Eigen::Vector3d get_coefficient_elements() = 0; |
| e2011220 | 0:ee7e9405e1c7 | 11 | virtual double read_wheel_velocity() = 0; |
| e2011220 | 0:ee7e9405e1c7 | 12 | |
| e2011220 | 0:ee7e9405e1c7 | 13 | enum CoefficientElements |
| e2011220 | 0:ee7e9405e1c7 | 14 | { |
| e2011220 | 0:ee7e9405e1c7 | 15 | X, |
| e2011220 | 0:ee7e9405e1c7 | 16 | Y, |
| e2011220 | 0:ee7e9405e1c7 | 17 | Yaw |
| e2011220 | 0:ee7e9405e1c7 | 18 | }; |
| e2011220 | 0:ee7e9405e1c7 | 19 | }; |
| e2011220 | 0:ee7e9405e1c7 | 20 | |
| e2011220 | 0:ee7e9405e1c7 | 21 | #endif |