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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

odom.h@1:bdd17feaa4ce, 2018-12-07 (annotated)

Committer:
nakedt555
Date:
Fri Dec 07 20:59:56 2018 +0000
Revision:
1:bdd17feaa4ce
Child:
2:086272a2da1c
create odom_h;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nakedt555 1:bdd17feaa4ce 1 #ifndef _ODOM_H_
nakedt555 1:bdd17feaa4ce 2 #define _ODOM_H_
nakedt555 1:bdd17feaa4ce 3
nakedt555 1:bdd17feaa4ce 4 #include "mbed.h"
nakedt555 1:bdd17feaa4ce 5 #include "type.h"
nakedt555 1:bdd17feaa4ce 6 #include "encoder.h"
nakedt555 1:bdd17feaa4ce 7 #include "BNO055.h"
nakedt555 1:bdd17feaa4ce 8 #include "encoder.h"
nakedt555 1:bdd17feaa4ce 9
nakedt555 1:bdd17feaa4ce 10 class Odom
nakedt555 1:bdd17feaa4ce 11 {
nakedt555 1:bdd17feaa4ce 12 private:
nakedt555 1:bdd17feaa4ce 13 int a;
nakedt555 1:bdd17feaa4ce 14
nakedt555 1:bdd17feaa4ce 15 public:
nakedt555 1:bdd17feaa4ce 16 Odom(){
nakedt555 1:bdd17feaa4ce 17 a = 10;
nakedt555 1:bdd17feaa4ce 18 }
nakedt555 1:bdd17feaa4ce 19 };
nakedt555 1:bdd17feaa4ce 20
nakedt555 1:bdd17feaa4ce 21 class Odom_Abstract
nakedt555 1:bdd17feaa4ce 22 {
nakedt555 1:bdd17feaa4ce 23 private:
nakedt555 1:bdd17feaa4ce 24 Odom *odom_;
nakedt555 1:bdd17feaa4ce 25 Vec3f initial_pose_;
nakedt555 1:bdd17feaa4ce 26 Vec3f drift_;
nakedt555 1:bdd17feaa4ce 27
nakedt555 1:bdd17feaa4ce 28 public:
nakedt555 1:bdd17feaa4ce 29 Odom_Abstract(){
nakedt555 1:bdd17feaa4ce 30
nakedt555 1:bdd17feaa4ce 31 }
nakedt555 1:bdd17feaa4ce 32
nakedt555 1:bdd17feaa4ce 33 Odom_Abstract(Odom *odom) : odom_(odom){
nakedt555 1:bdd17feaa4ce 34
nakedt555 1:bdd17feaa4ce 35 }
nakedt555 1:bdd17feaa4ce 36
nakedt555 1:bdd17feaa4ce 37 void set_initial_pose(Vec3f initial_pose){
nakedt555 1:bdd17feaa4ce 38 initial_pose_ = initial_pose;
nakedt555 1:bdd17feaa4ce 39 }
nakedt555 1:bdd17feaa4ce 40
nakedt555 1:bdd17feaa4ce 41 Vec3f get_initial_pose(){
nakedt555 1:bdd17feaa4ce 42 return initial_pose_;
nakedt555 1:bdd17feaa4ce 43 }
nakedt555 1:bdd17feaa4ce 44
nakedt555 1:bdd17feaa4ce 45 void set_drift(Vec3f drift){
nakedt555 1:bdd17feaa4ce 46 drift_ = drift;
nakedt555 1:bdd17feaa4ce 47 }
nakedt555 1:bdd17feaa4ce 48
nakedt555 1:bdd17feaa4ce 49 Vec3f get_drift(){
nakedt555 1:bdd17feaa4ce 50 return drift_;
nakedt555 1:bdd17feaa4ce 51 }
nakedt555 1:bdd17feaa4ce 52
nakedt555 1:bdd17feaa4ce 53 // virtual void loop() = 0;
nakedt555 1:bdd17feaa4ce 54 };
nakedt555 1:bdd17feaa4ce 55 #endif