Diff: odometry/odom.h

Revision:

4:cf1a4e503974

Parent:

3:a45557a0dcb8

Child:

5:e678f1ac6cdc

--- a/odometry/odom.h	Tue Dec 11 17:51:47 2018 +0000
+++ b/odometry/odom.h	Wed Dec 12 03:35:52 2018 +0000
@@ -17,6 +17,9 @@
 #define RAD2DEG(x)  (((x) / 3.1416f) * 180.0f)
 #define ABS(x)      (((x) > 0) ? (x) : -(x))
 
+#define COURT_RED   false
+#define COURT_BLUE  true
+
 class Odom
 {
     private:
@@ -33,6 +36,7 @@
         Vec3f world_velocity_;
         
         //For amcl
+        bool court_color_;
         Vec3f initialpose_;
         Vec3f drift_;
         
@@ -53,6 +57,9 @@
         void update_angle();
         
         //Getter
+        bool get_court_color(){
+            return court_color_;   
+        }
         Vec3f get_world(){
             return world_;   
         }
@@ -64,9 +71,15 @@
         }
         
         //Setter
+        void set_court_color(bool court_color){
+            court_color_ = court_color;   
+        }
         void set_initialpose(Vec3f initialpose){
             initialpose_ = initialpose;   
         }
+        void set_world(Vec3f world){
+            world_ = world;   
+        }
         void set_drift(Vec3f drift){
             drift_ = drift;   
         }
@@ -82,10 +95,6 @@
         Odom *odom_;
         
     public:
-        Odom_Abstract(){
-            
-        }
-        
         Odom_Abstract(Odom *odom) : odom_(odom){
             
         }
@@ -101,21 +110,30 @@
             odom_->set_initialpose(initialpose);
         }
         
+        //Getter
+        bool get_court_color(){
+            return odom_->get_court_color();   
+        }
         Vec3f get_initial_pose(){
             return odom_->get_initialpose();
         }
-        
         Vec3f get_pose(){
             return odom_->get_world();   
         }
-        
-        void set_drift(Vec3f drift){
-            odom_->set_drift(drift);
-        }
-        
         Vec3f get_drift(){
             return odom_->get_drift();
         }
         
+        //Setter
+        void set_court_color(bool court_color){
+            odom_->set_court_color(court_color);   
+        }
+        void set_pose(Vec3f pose){
+            odom_->set_world(pose);   
+        }
+        void set_drift(Vec3f drift){
+            odom_->set_drift(drift);
+        }
+    
 };
 #endif
\ No newline at end of file