BodyState.hpp

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#ifndef __ODOMETRY_BODYSTATE_HPP__
#define __ODOMETRY_BODYSTATE_HPP__

#include <base/Time.hpp>

namespace odometry 
{
    static const size_t NUMBER_OF_WHEELS = 4;

    enum wheelIdx
    {
        REAR_LEFT   = 0,
        REAR_RIGHT  = 1,
        FRONT_RIGHT = 2,
        FRONT_LEFT  = 3
    };

    extern bool isLeft( wheelIdx idx );

    extern bool isFront( wheelIdx idx );

    extern wheelIdx wheelIdxEnum( unsigned long idx );

    class BodyState
    {
    public: 
       BodyState(); 
    public:
        base::Time time;

        double getWheelPos(wheelIdx idx) const;
        void setWheelPos(wheelIdx idx, double value);

        double wheelPos[NUMBER_OF_WHEELS];
    };
}

#endif