wheel_encoders.hpp

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
namespace common_lib::sensor_data {
 
struct WheelEncoderData {
  double rl_rpm = 0.0;
  double rr_rpm = 0.0;
  double fl_rpm = 0.0;
  double fr_rpm = 0.0;
  double steering_angle = 0.0;
 
  rclcpp::Time timestamp_ = rclcpp::Time(0);  //< Time of sensor data collection
 
  WheelEncoderData() = default;
  WheelEncoderData(double rl_rpm, double rr_rpm, double steering_angle,
                   rclcpp::Time timestamp = rclcpp::Time(0));
  WheelEncoderData(double rl_rpm, double rr_rpm, double fl_rpm, double fr_rpm,
                   double steering_angle, rclcpp::Time timestamp = rclcpp::Time(0));
};
 
}  // namespace common_lib::sensor_data