//SPDX-FileCopyrightText: 2022 Ryuichi Ueda ryuichiueda@gmail.com
//SPDX-License-Identifier: LGPL-3.0-or-later

#ifndef POSE_H__
#define POSE_H__

#include <sstream>

namespace emcl2 {

class Pose
{
public:
	Pose(){}
	Pose(double x, double y, double t);

	void set(double x, double y, double t);
	void set(const Pose &p);
	std::string to_s(void);

	void normalizeAngle(void);
	void move(double length, double direction, double rotation,
		  double fw_noise, double rot_noise);

	Pose operator -(const Pose &p) const;
	Pose operator =(const Pose &p);

	bool nearlyZero(void);

	double x_, y_, t_;

	uint16_t get16bitRepresentation(void);
	static uint16_t get16bitRepresentation(double);
};

}

#endif