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include/okapi/api/odometry/point.hpp

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+/*
+ * 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/odometry/stateMode.hpp"
+#include "okapi/api/units/QLength.hpp"
+
+namespace okapi {
+struct Point {
+  QLength x{0_m};
+  QLength y{0_m};
+
+  /**
+   * Computes the value of this point in `StateMode::FRAME_TRANSFORMATION`.
+   *
+   * @param imode The StateMode this Point is currently specified in.
+   * @return This point specified in `StateMode::FRAME_TRANSFORMATION`.
+   */
+  Point inFT(const StateMode &imode) const {
+    if (imode == StateMode::FRAME_TRANSFORMATION) {
+      return *this;
+    } else {
+      return {y, x};
+    }
+  }
+};
+} // namespace okapi