odometry.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/chassis/controller/chassisScales.hpp"
#include "okapi/api/chassis/model/readOnlyChassisModel.hpp"
#include "okapi/api/odometry/odomState.hpp"
#include "okapi/api/odometry/stateMode.hpp"
 
namespace okapi {
class Odometry {
  public:
  explicit Odometry() = default;
 
  virtual ~Odometry() = default;
 
  virtual void setScales(const ChassisScales &ichassisScales) = 0;
 
  virtual void step() = 0;
 
  virtual OdomState getState(const StateMode &imode = StateMode::FRAME_TRANSFORMATION) const = 0;
 
  virtual void setState(const OdomState &istate,
                        const StateMode &imode = StateMode::FRAME_TRANSFORMATION) = 0;
 
  virtual std::shared_ptr<ReadOnlyChassisModel> getModel() = 0;
 
  virtual ChassisScales getScales() = 0;
};
} // namespace okapi