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include/okapi/api/odometry/threeEncoderOdometry.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/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