odomState.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/units/QAngle.hpp"
#include "okapi/api/units/QLength.hpp"
#include "okapi/api/units/RQuantityName.hpp"
#include <string>
 
namespace okapi {
struct OdomState {
  QLength x{0_m};
  QLength y{0_m};
  QAngle theta{0_deg};
 
  std::string str(QLength idistanceUnit, QAngle iangleUnit) const;
 
  std::string str(QLength idistanceUnit = meter,
                  std::string distUnitName = "_m",
                  QAngle iangleUnit = degree,
                  std::string angleUnitName = "_deg") const;
 
  bool operator==(const OdomState &rhs) const;
 
  bool operator!=(const OdomState &rhs) const;
};
} // namespace okapi