DiffDriveLib.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------


#ifndef __DIFFDRIVEENCODERREADING_H_
#define __DIFFDRIVEENCODERREADING_H_

#ifdef MIP_HOST_APPLE
 #include <applePatch.h>
#endif

#include <Time.h>

namespace MipBaselib{

enum OdomIntegrMethods{
 ODO_INT_METH_EXACT,
 ODO_INT_METH_RUNKUT2,
 ODO_INT_METH_DIRECT_INT,
 ODO_INT_METH_TRAPZ,
 ODO_INT_METH_NUM
};


class DiffDriveEncoderReading{
 public:
  long int leftPulses; 
  long int rightPulses; 
  Time leftTime;    
  Time rightTime;    

  DiffDriveEncoderReading(long int lp=0,long int rp=0,Time lt=Time(0.0),Time rt=Time(0.0));
  DiffDriveEncoderReading(const DiffDriveEncoderReading &p);
  DiffDriveEncoderReading& operator=(const DiffDriveEncoderReading& p);
  string print();
};
} // End of namespace

#endif