point.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/odometry/stateMode.hpp"
#include "okapi/api/units/QLength.hpp"
 
namespace okapi {
struct Point {
  QLength x{0_m};
  QLength y{0_m};
 
  Point inFT(const StateMode &imode) const {
    if (imode == StateMode::FRAME_TRANSFORMATION) {
      return *this;
    } else {
      return {y, x};
    }
  }
};
} // namespace okapi