File content as of revision 1:bdd17feaa4ce:

#ifndef _ODOM_H_
#define _ODOM_H_

#include "mbed.h"
#include "type.h"
#include "encoder.h"
#include "BNO055.h"
#include "encoder.h"

class Odom
{
    private:
        int a;

    public:
        Odom(){
            a = 10;  
        }    
};

class Odom_Abstract
{
    private:
        Odom *odom_;
        Vec3f initial_pose_;
        Vec3f drift_;
        
    public:
        Odom_Abstract(){
            
        }
        
        Odom_Abstract(Odom *odom) : odom_(odom){
            
        }
        
        void set_initial_pose(Vec3f initial_pose){
            initial_pose_ = initial_pose;
        }
        
        Vec3f get_initial_pose(){
            return initial_pose_;
        }
        
        void set_drift(Vec3f drift){
            drift_ = drift;
        }
        
        Vec3f get_drift(){
            return drift_;
        }
        
//        virtual void loop() = 0;
};
#endif