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Code for the 2022-2023 rambot b .
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1234567891011121314151617181920212223242526272829303132333435363738394041424344/* * This Source Code Form is subject to the terms of the Mozilla Public * License, v. 2.0. If a copy of the MPL was not distributed with this * file, You can obtain one at http://mozilla.org/MPL/2.0/. */#pragma once
#include "okapi/api/chassis/model/threeEncoderSkidSteerModel.hpp"#include "okapi/api/odometry/twoEncoderOdometry.hpp"#include "okapi/api/util/timeUtil.hpp"#include <functional>
namespace okapi {class ThreeEncoderOdometry : public TwoEncoderOdometry { public: /** * Odometry. Tracks the movement of the robot and estimates its position in coordinates * relative to the start (assumed to be (0, 0)). * * @param itimeUtil The TimeUtil. * @param imodel The chassis model for reading sensors. * @param ichassisScales See ChassisScales docs (the middle wheel scale is the third member) * @param iwheelVelDelta The maximum delta between wheel velocities to consider the robot as * driving straight. * @param ilogger The logger this instance will log to. */ ThreeEncoderOdometry(const TimeUtil &itimeUtil, const std::shared_ptr<ReadOnlyChassisModel> &imodel, const ChassisScales &ichassisScales, const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
protected: /** * Does the math, side-effect free, for one odom step. * * @param itickDiff The tick difference from the previous step to this step. * @param ideltaT The time difference from the previous step to this step. * @return The newly computed OdomState. */ OdomState odomMathStep(const std::valarray<std::int32_t> &itickDiff, const QTime &ideltaT) override;};} // namespace okapi