.. _program_listing_file_src_LouLib_Odometry_ThreeSensorOdom.hpp:

Program Listing for File ThreeSensorOdom.hpp
============================================

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

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

.. code-block:: cpp

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