CObservationOdometry.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, 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/slam/CObservation.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt
{
        namespace slam
        {
                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:
                        /** Constructor
                         */
                        CObservationOdometry( );

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

                        bool  hasEncodersInfo; //!< "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.

                        /** For odometry only: 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 "velocityLin" and "velocityAng" contain valid values.

                        /** The velocity of the robot, linear in meters/sec and angular in rad/sec.
                          */
                        float   velocityLin, velocityAng;


                        /** A general method to retrieve the sensor pose on the robot.
                          *  It has no effects in this class
                          * \sa setSensorPose
                          */
                        void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); }

                        /** A general method to change the sensor pose on the robot.
                          *  It has no effects in this class
                          * \sa getSensorPose
                          */
                        void setSensorPose( const CPose3D & ) {  }

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

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

#endif