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# Representations/Motion/OdometryData.h

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    00001 /**
    00002 * @file OdometryData.h
    00003 * Contains the OdometryData class.
    00004 *
    00005 * @author Max Risler
    00006 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
    00007 */
    00008
    00009 #ifndef __OdometryData_h_
    00010 #define __OdometryData_h_
    00011
    00012 #include "Tools/Math/Pose2D.h"
    00013 #include "Tools/Streams/InOut.h"
    00014 #include <vector>
    00015
    00016 /**
    00017 * OdometryData
    00018 * OdometryData contains an approximation of overall movement the robot has done.
    00019 * @attention Only use differences of OdometryData at different times.
    00020 * Position in mm
    00021 */
    00022 class OdometryData
    00023   : public Pose2D
    00024
    00025 {
    00026 public:
    00027   OdometryData();
    00028   ~OdometryData();
    00029
    00030   bool operator==(const OdometryData& other) const
    00031   {
    00032     return (const Pose2D&) *this == other;
    00033   }
    00034
    00035   bool operator!=(const OdometryData& other) const
    00036   {return !(*this == other);}
    00037
    00038
    00039 };
    00040
    00041 /**
    00042 * Streaming operator that reads a OdometryData from a stream.
    00043 * @param stream The stream from which is read.
    00044 * @param odometryData The OdometryData object.
    00045 * @return The stream.
    00046 */
    00047 In& operator>>(In& stream,OdometryData& odometryData);
    00048
    00049 /**
    00050 * Streaming operator that writes a OdometryData to a stream.
    00051 * @param stream The stream to write on.
    00052 * @param odometryData The OdometryData object.
    00053 * @return The stream.
    00054 */
    00055 Out& operator<<(Out& stream, const OdometryData& odometryData);
    00056
    00057
    00058 #endif //__OdometryData_h_