odometry_2d_tracker.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot 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.
 *
 * Taproot 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 Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_ODOMETRY_2D_TRACKER_HPP_
#define TAPROOT_ODOMETRY_2D_TRACKER_HPP_
 
#include "modm/math/geometry/location_2d.hpp"
 
#include "odometry_2d_interface.hpp"
 
namespace tap::algorithms::odometry
{
// Forward declarations
class ChassisWorldYawObserverInterface;
class ChassisDisplacementObserverInterface;
 
class Odometry2DTracker : public Odometry2DInterface
{
public:
    Odometry2DTracker(
        ChassisWorldYawObserverInterface* chassisYawObserver,
        ChassisDisplacementObserverInterface* chassisDisplacementObserver)
        : chassisYawObserver(chassisYawObserver),
          chassisDisplacementObserver(chassisDisplacementObserver)
    {
    }
 
    void update();
 
    inline modm::Location2D<float> getCurrentLocation2D() const final { return location; }
 
    inline modm::Vector2f getCurrentVelocity2D() const final { return velocity; }
 
    inline float getYaw() const final { return chassisYaw; }
 
    inline uint32_t getLastComputedOdometryTime() const final { return lastComputedOdometryTime; }
 
    void overrideOdometryPosition(const float positionX, const float positionY);
 
private:
    ChassisWorldYawObserverInterface* chassisYawObserver;
    ChassisDisplacementObserverInterface* chassisDisplacementObserver;
    // Location in reference frame
    modm::Location2D<float> location;
    // Velocity in reference frame
    modm::Vector2f velocity;
    // Chassis yaw orientation in reference frame (radians)
    float chassisYaw;
    // Previous chassis absolute displacement in chassis frame
    modm::Vector<float, 3> prevChassisAbsoluteDisplacement;
    // last time (in microsecodns) that the odometry was computed
    uint32_t lastComputedOdometryTime = 0;
    // `true` iff `this` has been updated with valid chassis data at least once.
    bool displacementPrimed = false;
};
 
}  // namespace tap::algorithms::odometry
 
#endif  // TAPROOT_ODOMETRY_2D_TRACKER_HPP_