odometry.h

#include <mbot_lcm_msgs_serial.h>
#include <mbot/defs/mbot_params.h>
 
int mbot_calculate_diff_body_vel(float wheel_left_vel, float wheel_right_vel, serial_twist2D_t *mbot_vel);
 
int mbot_calculate_diff_body_vel_imu(float wheel_left_vel, float wheel_right_vel, serial_mbot_imu_t imu, serial_twist2D_t *mbot_vel);
 
int mbot_calculate_omni_body_vel(float wheel_left_vel, float wheel_right_vel, float wheel_back_vel, serial_twist2D_t *mbot_vel);
 
int mbot_calculate_omni_body_vel_imu(float wheel_left_vel, float wheel_right_vel, float wheel_back_vel, serial_mbot_imu_t imu, serial_twist2D_t *mbot_vel);
 
int mbot_calculate_odometry(serial_twist2D_t mbot_vel,  float dt, serial_pose2D_t *odometry);