obs/CObservationOdometry.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef CObservationOdometry_H
#define CObservationOdometry_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt
{
        namespace obs
        {
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationOdometry, CObservation,OBS_IMPEXP  )

                /** An observation of the current (cumulative) odometry for a wheeled robot.
                 *   This kind of observation will only occur in a "observation-only" rawlog file, otherwise
                 *    odometry are modeled with actions. Refer to the <a href="http://www.mrpt.org/Rawlog_Format">page on rawlogs</a>.
                 *
                 * \sa CObservation, CActionRobotMovement2D
                 * \ingroup mrpt_obs_grp
                 */
                class OBS_IMPEXP CObservationOdometry : public CObservation
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CObservationOdometry )

                 public:
                        CObservationOdometry(); //!< Default ctor

                        mrpt::poses::CPose2D odometry; //!< The absolute odometry measurement (IT IS NOT INCREMENTAL)

                        bool  hasEncodersInfo; //!< "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
                        /** For differential-driven robots: The ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels); \sa hasEncodersInfo  */
                        int32_t  encoderLeftTicks,encoderRightTicks;

                        bool                 hasVelocities;  //!< "true" means that `velocityLocal` contains valid values.
                        mrpt::math::TTwist2D velocityLocal; //!< Velocity, in the robot (local) frame of reference (+X=forward).

                        // See base class docs
                        void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose=mrpt::poses::CPose3D(0,0,0); }
                        void setSensorPose( const mrpt::poses::CPose3D & ) MRPT_OVERRIDE {  }
                        void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;

                }; // End of class def.
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationOdometry, CObservation,OBS_IMPEXP  )

        } // End of namespace
} // End of namespace

#endif