00001
00002
00003 #ifndef _REC_ROBOTINO_COM_C_ODOMETRY_H_
00004 #define _REC_ROBOTINO_COM_C_ODOMETRY_H_
00005
00006 #include "rec/robotino/com/c/globals.h"
00007 #include "rec/robotino/com/c/Com.h"
00008
00019 typedef int OdometryId;
00020
00021 #define INVALID_ODOMETRYID -1
00022
00027 DLLEXPORT OdometryId Odometry_construct();
00028
00034 DLLEXPORT BOOL Odometry_destroy( OdometryId id );
00035
00040 DLLEXPORT BOOL Odometry_setComId( OdometryId id, ComId comId );
00041
00046 DLLEXPORT float Odometry_x( OdometryId id );
00047
00052 DLLEXPORT float Odometry_y( OdometryId id );
00053
00058 DLLEXPORT float Odometry_phi( OdometryId id );
00059
00068 DLLEXPORT BOOL Odometry_set( OdometryId id, float x, float y, float phi );
00069
00070 #endif //_REC_ROBOTINO_COM_C_ODOMETRY_H_