Initial commit

include/okapi/api/odometry/odometry.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/controller/chassisScales.hpp"
+#include "okapi/api/chassis/model/readOnlyChassisModel.hpp"
+#include "okapi/api/odometry/odomState.hpp"
+#include "okapi/api/odometry/stateMode.hpp"
+
+namespace okapi {
+class Odometry {
+  public:
+  /**
+   * Odometry. Tracks the movement of the robot and estimates its position in coordinates
+   * relative to the start (assumed to be (0, 0, 0)).
+   */
+  explicit Odometry() = default;
+
+  virtual ~Odometry() = default;
+
+  /**
+   * Sets the drive and turn scales.
+   */
+  virtual void setScales(const ChassisScales &ichassisScales) = 0;
+
+  /**
+   * Do one odometry step.
+   */
+  virtual void step() = 0;
+
+  /**
+   * Returns the current state.
+   *
+   * @param imode The mode to return the state in.
+   * @return The current state in the given format.
+   */
+  virtual OdomState getState(const StateMode &imode = StateMode::FRAME_TRANSFORMATION) const = 0;
+
+  /**
+   * Sets a new state to be the current state.
+   *
+   * @param istate The new state in the given format.
+   * @param imode The mode to treat the input state as.
+   */
+  virtual void setState(const OdomState &istate,
+                        const StateMode &imode = StateMode::FRAME_TRANSFORMATION) = 0;
+
+  /**
+   * @return The internal ChassisModel.
+   */
+  virtual std::shared_ptr<ReadOnlyChassisModel> getModel() = 0;
+
+  /**
+   * @return The internal ChassisScales.
+   */
+  virtual ChassisScales getScales() = 0;
+};
+} // namespace okapi