Orca Robotics

00001 #ifndef ODOMETRYDIFFERENTIATOR_H
00002 #define ODOMETRYDIFFERENTIATOR_H
00003 
00004 #include <hydronavutil/hydronavutil.h>
00005 
00006 namespace hydronavutil {
00007 
00013 class OdometryDifferentiator
00014 {
00015 
00016 public: 
00017 
00018     OdometryDifferentiator()
00019         : prevOdomInitialised_(false)
00020         {}
00021 
00022     OdometryDifferentiator( const hydronavutil::Pose &initPose );
00023 
00025     hydronavutil::Pose calcDelta( double x,
00026                                   double y,
00027                                   double theta );
00028 
00030     hydronavutil::Pose calcDelta( const hydronavutil::Pose &newPose )
00031         { return calcDelta( newPose.x(), newPose.y(), newPose.theta() ); }
00032 
00033 private: 
00034 
00035     double prevX_, prevY_, prevTheta_;
00036     bool prevOdomInitialised_;
00037 };
00038 
00039 }
00040 
00041 #endif
odometrydifferentiator.h
