CObservationOdometry.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#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.

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

#endif