?? odometrystate.h
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#ifndef _ROBOT_STATE_H#define _ROBOT_STATE_H#include <iostream>#include "State.h"#include "msg_types.h"#include "ipc/ipc.h"#include "logger/src/logger.h"using namespace std;class OdometryState;class OdometryState : public State { private: rescue_geometry_message geometry; struct timeval timestamp; bool _yawSet; double _inuYaw; public: OdometryState(bool useKalmanPoses=true); ~OdometryState(); static OdometryState* singleton; public: static OdometryState* getSingleton(bool useKalmanPoses) { if (OdometryState::singleton == NULL) OdometryState::singleton = new OdometryState(useKalmanPoses); return OdometryState::singleton; } void update(rescue_odometry_message &msg); void update(rescue_kalman_pose_message &msg); void update(rescue_inertiacube_message &msg); int getPosX(); int getPosZ(); int getPosTh(); int getTVel(); int getRVel(); struct timeval getPosTimestamp(void) {cerr << "Timestamps not working yet!" <<endl; return timestamp;} double getBatteryState();};#endif/********************************************************************* * (C) Copyright 2006 Albert Ludwigs University Freiburg * Institute of Computer Science * * All rights reserved. Use of this software is permitted for * non-commercial research purposes, and it may be copied only * for that use. All copies must include this copyright message. * This software is made available AS IS, and neither the authors * nor the Albert Ludwigs University Freiburg make any warranty * about the software or its performance. *********************************************************************/
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