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odometrydifferentiator.h00001 #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 |
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