estimator/estimator.h

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#include <math.h>

// Base class for estimator functionality
class EstimatorBase
{
  protected:
        double xpos, ypos, angle;       
        
  public:
        // Constructor
        EstimatorBase(double x=0, double y=0, double ang=0) :
                xpos(x), ypos(y), angle(ang) { }

                // Inline functions for getting estimator data
        inline double getXPos(void) {return xpos;}
        inline double getYPos(void) {return ypos;}
        inline double getAngle(void) {return angle;}

};


// This class uses only encoder data from back wheels to determine
// the truck position
class EncEstimator : public EstimatorBase
{
  protected:
        double cosValue, sinValue;

  public:               
        
        EncEstimator(double x=0.0, double y=0.0, double ang=0.0)
                : EstimatorBase(x,y,ang)
        {
                cosValue = cos(ang);
                sinValue = sin(ang);
    }
                
        // update() :
        //  Updates estimated position of truck using encoder data from
        //  rear wheels
        // Inputs
        //  FR - CHANGE in encoder for front right wheel
        //  FL - CHANGE in encoder for front left wheel
        //  BR - CHANGE in encoder for back right wheel
        //  BL - CHANGE in encoder for back left wheel
        // Outputs
        //  xpos,ypos,angle - updates position and angle values for class
        //  Formula - see estimator.cpp for Formula
        void update(double fr, double fl, double br, double bl);
                
};

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