Representations/Motion/OdometryData.h

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/**
* @file OdometryData.h
* Contains the OdometryData class.
*
* @author Max Risler
* @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
*/

#ifndef __OdometryData_h_
#define __OdometryData_h_

#include "Tools/Math/Pose2D.h"
#include "Tools/Streams/InOut.h"
#include <vector>

/**
* OdometryData
* OdometryData contains an approximation of overall movement the robot has done.
* @attention Only use differences of OdometryData at different times.
* Position in mm
*/
class OdometryData
  : public Pose2D
   
{
public:
  OdometryData();
  ~OdometryData();
  
  bool operator==(const OdometryData& other) const 
  {
    return (const Pose2D&) *this == other;
  }
  
  bool operator!=(const OdometryData& other) const
  {return !(*this == other);}

 
};

/**
* Streaming operator that reads a OdometryData from a stream.
* @param stream The stream from which is read.
* @param odometryData The OdometryData object.
* @return The stream.
*/ 
In& operator>>(In& stream,OdometryData& odometryData);

/**
* Streaming operator that writes a OdometryData to a stream.
* @param stream The stream to write on.
* @param odometryData The OdometryData object.
* @return The stream.
*/ 
Out& operator<<(Out& stream, const OdometryData& odometryData);


#endif //__OdometryData_h_

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