Diff: odom.h

Revision:

1:bdd17feaa4ce

Child:

2:086272a2da1c

diff -r 10f626cf3ec4 -r bdd17feaa4ce odom.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/odom.h	Fri Dec 07 20:59:56 2018 +0000
@@ -0,0 +1,55 @@
+#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
\ No newline at end of file