.. _program_listing_file_src_LouLib_Odometry_ThreeSensorIMUOdom.hpp:

Program Listing for File ThreeSensorIMUOdom.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Odometry_ThreeSensorIMUOdom.hpp>` (``src/LouLib/Odometry/ThreeSensorIMUOdom.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef LOULIB_THREESENSORIMUODOM_HPP
   #define LOULIB_THREESENSORIMUODOM_HPP
   
   #include "AbstractOdometry.hpp"
   #include "OdomMotorSensor.hpp"
   #include "OdomRotationSensor.hpp"
   #include "OdomIMUSensor.hpp"
   
   namespace LouLib {
       namespace Odometry {
   
           class ThreeSensorIMUOdom : public AbstractOdometry{
           private:
   
               AbstractOdomSensor &leftSensor;
               AbstractOdomSensor &rightSensor;
   
               Units::Length trackWidth;
   
               AbstractOdomSensor &backSensor;
   
               Units::Length backDist;
   
               OdomIMUSensor &imuSensor;
   
               Units::Length lastLeft = 0_in;
               Units::Length lastRight = 0_in;
               Units::Length lastBack = 0_in;
               Units::Angle lastTheta = 0_deg;
   
           public:
   
               ThreeSensorIMUOdom(AbstractOdomSensor &leftSensor, AbstractOdomSensor &rightSensor,
                                  const Units::Length &trackWidth, AbstractOdomSensor &backSensor,
                                  const Units::Length &backDist, OdomIMUSensor &imuSensor);
   
               void setPose(Math::Pose2D newPose) override;
   
               void update() override;
           };
   
       } // LouLib
   } // Odometry
   
   #endif //LOULIB_THREESENSORIMUODOM_HPP