/**
 * @file include/lemlib/chassis/odom.hpp
 * @author LemLib Team
 * @brief This is the header file for the odom.cpp file. Its not meant to be used directly, only through the chassis
 * class
 * @version 0.4.5
 * @date 2023-01-23
 *
 * @copyright Copyright (c) 2023
 *
 */

#pragma once

#include "lemlib/chassis/chassis.hpp"
#include "lemlib/pose.hpp"

namespace lemlib {
/**
 * @brief Set the sensors to be used for odometry
 *
 * @param sensors the sensors to be used
 * @param drivetrain drivetrain to be used
 */
void setSensors(lemlib::OdomSensors sensors, lemlib::Drivetrain drivetrain);
/**
 * @brief Get the pose of the robot
 *
 * @param radians true for theta in radians, false for degrees. False by default
 * @return Pose
 */
Pose getPose(bool radians = false);
/**
 * @brief Set the Pose of the robot
 *
 * @param pose the new pose
 * @param radians true if theta is in radians, false if in degrees. False by default
 */
void setPose(Pose pose, bool radians = false);
/**
 * @brief Get the speed of the robot
 *
 * @param radians true for theta in radians, false for degrees. False by default
 * @return lemlib::Pose
 */
Pose getSpeed(bool radians = false);
/**
 * @brief Get the local speed of the robot
 *
 * @param radians true for theta in radians, false for degrees. False by default
 * @return lemlib::Pose
 */
Pose getLocalSpeed(bool radians = false);
/**
 * @brief Estimate the pose of the robot after a certain amount of time
 *
 * @param time time in seconds
 * @param radians False for degrees, true for radians. False by default
 * @return lemlib::Pose
 */
Pose estimatePose(float time, bool radians = false);
/**
 * @brief Update the pose of the robot
 *
 */
void update();
/**
 * @brief Initialize the odometry system
 *
 */
void init();
} // namespace lemlib