Modules/SelfLocator/OdometrySelfLocator.h

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/**
* @file Modules/SelfLocator/OdometrySelfLocator.h
* 
* This file contains a class for self-localization based on odometry only.
* @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Juengel</a>
*
*/

#ifndef __OdometrySelfLocator_h_
#define __OdometrySelfLocator_h_

#include "SelfLocator.h"

/**
* Class for self-localization based on odometry 
*/
class OdometrySelfLocator : public SelfLocator
{
public:
  /** 
  * Constructor.
  * @param interfaces The paramters of the SelfLocator module.
  */
  OdometrySelfLocator(const SelfLocatorInterfaces& interfaces);
  
  /**
  * Destructor.
  */
  ~OdometrySelfLocator() {}
  
  /** Executes the module */
  virtual void execute();

  Pose2D referencePose;
  Pose2D referenceOdometry;
  unsigned long int timeOfLastExecute;
};

#endif// __OdometrySelfLocator_h_

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