#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. *********************************************************************/