omni.h

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#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_broadcaster.h>

#include <string.h>
#include <stdio.h>
#include <math.h>
#include <assert.h>
#include <sstream>
#include <vector>

#include <HL/hl.h>
#include <HD/hd.h>
#include <HDU/hduError.h>
#include <HDU/hduVector.h>
#include <HDU/hduMatrix.h>


#define HOME_XX 0
#define HOME_YY 0
#define HOME_ZZ 0

struct OmniState {
    hduVector3Dd position;  //3x1 vector of position
    //hduVector3Dd velocity;  //3x1 vector of velocity
    //hduVector3Dd inp_vel1;  //3x1 history of velocity used for filtering velocity estimate
    //hduVector3Dd inp_vel2;  
    //hduVector3Dd inp_vel3;  
    //hduVector3Dd out_vel1;  
    //hduVector3Dd out_vel2;  
    //hduVector3Dd out_vel3;
    hduVector3Dd pos_hist1; //3x1 history of position used for 2nd order backward difference estimate of velocity 
    //hduVector3Dd pos_hist2; 
    hduVector3Dd rot;
    hduVector3Dd joints;
    hduVector3Dd force;     //3 element double vector force[0], force[1], force[2]
    float thetas[7];
    HDdouble temp[3];  // Motors Temperture
    int buttons[2];
    //int buttons_prev[2];
    bool home;
    hduVector3Dd home_pos;
};