Odometry.h

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//  Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_API2_C_ODOMETRY_H_
#define _REC_ROBOTINO_API2_C_ODOMETRY_H_

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

typedef int OdometryId;

#define INVALID_ODOMETRYID -1

DLLEXPORT OdometryId Odometry_construct();

DLLEXPORT BOOL Odometry_destroy( OdometryId id );

DLLEXPORT BOOL Odometry_setComId( OdometryId id, ComId comId );

DLLEXPORT BOOL Odometry_readings(OdometryId id, double* x, double* y, double* phi, unsigned int* sequence);

DLLEXPORT float Odometry_x( OdometryId id );

DLLEXPORT float Odometry_y( OdometryId id );

DLLEXPORT float Odometry_phi( OdometryId id );

DLLEXPORT BOOL Odometry_set( OdometryId id, float x, float y, float phi );

#endif //_REC_ROBOTINO_API2_C_ODOMETRY_H_