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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?
User | Revision | Line number | New 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 |