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https://github.com/bjoernellens1/cps_microros_imu.git
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39 lines
1.2 KiB
C
39 lines
1.2 KiB
C
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// Copyright (c) 2021 Juan Miguel Jimeno
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef ODOMETRY_H
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#define ODOMETRY_H
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#include <Arduino.h>
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#include <micro_ros_utilities/type_utilities.h>
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#include <micro_ros_utilities/string_utilities.h>
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#include <nav_msgs/msg/odometry.h>
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class Odometry
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{
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public:
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Odometry();
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void update(float vel_dt, float linear_vel_x, float linear_vel_y, float angular_vel_z);
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nav_msgs__msg__Odometry getData();
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private:
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const void euler_to_quat(float x, float y, float z, float* q);
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nav_msgs__msg__Odometry odom_msg_;
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float x_pos_;
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float y_pos_;
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float heading_;
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};
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#endif
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