Odometry.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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#ifndef _MIRA_ODOMETRY_H_
#define _MIRA_ODOMETRY_H_

#include <limits>

#include <math/Eigen.h>
#include <transform/Pose.h>
#include <transform/Velocity.h>

#include <utils/IsCheapToCopy.h>

namespace mira { namespace robot {


template <int D>
class Odometry
{
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW


    Odometry() {}

    Odometry(const RigidTransform<float, D>& p, const RigidTransform<float, D>& v) :
        pose(p),
        velocity(v)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("Pose", pose, "The position");
        r.property("Velocity", velocity, "The velocity");
    }


public:
    /*
     * Returns true if *this is approximately equal to other, 
     * within the precision determined by prec.
     * @return true if approximately equal, false otherwise
     */
    bool isApprox(const Odometry<D>& other,
                  float prec = std::numeric_limits<float>::epsilon()) const
    {
        return pose.isApprox(other.pose, prec) &&
               velocity.isApprox(other.velocity, prec);
    }

public:
    RigidTransform<float, D> pose;

    RigidTransform<float, D> velocity;
};


typedef Odometry<2> Odometry2;

typedef Odometry<3> Odometry3;


} // namespace robot

template <>
class IsCheapToCopy<robot::Odometry2> : public std::true_type {};

template <>
class IsCheapToCopy<robot::Odometry3> : public std::true_type {};


} // namespace mira

#endif