package cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes;
   
   import java.io.Serializable;
   
   /**
    * Odometry pose is the estimated robot position relative to the start point in
    * meters. ‘theta’ is the head angle in radians relative to the start
    * orientation. This class is used for storing data from Odometry Sensor.
    *
   * @author vejmanm
   */
  public class OdometryPose implements Serializable, Cloneable
  {
      private double x = 0;
      private double y = 0;
      private double theta = 0;
  
      public OdometryPose()
      {
      }
  
      public OdometryPose(double x, double y, double theta)
      {
          this.x = x;
          this.y = y;
          this.theta = theta;
      }
  
      public double getX()
      {
          return x;
      }
  
      public double getY()
      {
          return y;
      }
  
      public double getTheta()
      {
          return theta;
      }
  
      public final void set(double x, double y, double theta)
      {
          this.x = x;
          this.y = y;
          this.theta = theta;
  
      }
  
      public final void set(OdometryPose tplOP)
      {
          this.x = tplOP.x;
          this.y = tplOP.y;
          this.theta = tplOP.theta;
      }
  
      @Override
      public Object clone()
      {
          return new OdometryPose(x, y, theta);
      }
  }