threeEncoderOdometry.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/model/threeEncoderSkidSteerModel.hpp"
#include "okapi/api/odometry/twoEncoderOdometry.hpp"
#include "okapi/api/util/timeUtil.hpp"
#include <functional>
 
namespace okapi {
class ThreeEncoderOdometry : public TwoEncoderOdometry {
  public:
  ThreeEncoderOdometry(const TimeUtil &itimeUtil,
                       const std::shared_ptr<ReadOnlyChassisModel> &imodel,
                       const ChassisScales &ichassisScales,
                       const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
 
  protected:
  OdomState odomMathStep(const std::valarray<std::int32_t> &itickDiff,
                         const QTime &ideltaT) override;
};
} // namespace okapi