Reorganize steering odometry to pass ABI checks for backward compatibility

Author: kumar-sanjeeev

steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp

@@ -53,12 +53,111 @@ namespace steering_odometry
 inline bool is_close_to_zero(double val) { return steering_kinematics::is_close_to_zero(val); }
 
 /**
- * \brief The Odometry class handles odometry readings
- * (2D pose and velocity with related timestamp)
+ * \brief Deprecated Odometry class for backward ABI compatibility.
+ * Internally calling steering_kinematics::SteeringKinematics
  */
-using SteeringOdometry [[deprecated("Use steering_kinematics::SteeringKinematics instead.")]] =
-  steering_kinematics::SteeringKinematics;
 
+class [[deprecated("Use steering_kinematics::SteeringKinematics instead")]] SteeringOdometry
+{
+public:
+  explicit SteeringOdometry(size_t velocity_rolling_window_size = 10)
+  : sk_impl_(velocity_rolling_window_size)
+  {
+  }
+
+  void init(const rclcpp::Time & time) { sk_impl_.init(time); }
+
+  bool update_from_position(
+    const double traction_wheel_pos, const double steer_pos, const double dt)
+  {
+    sk_impl_.update_from_position(traction_wheel_pos, steer_pos, dt);
+  }
+
+  bool update_from_position(
+    const double right_traction_wheel_pos, const double left_traction_wheel_pos,
+    const double steer_pos, const double dt)
+  {
+    sk_impl_.update_from_position(right_traction_wheel_pos, left_traction_wheel_pos, steer_pos, dt);
+  }
+
+  bool update_from_position(
+    const double right_traction_wheel_pos, const double left_traction_wheel_pos,
+    const double right_steer_pos, const double left_steer_pos, const double dt)
+  {
+    sk_impl_.update_from_position(
+      right_traction_wheel_pos, left_traction_wheel_pos, right_steer_pos, left_steer_pos, dt);
+  }
+
+  bool update_from_velocity(
+    const double traction_wheel_vel, const double steer_pos, const double dt)
+  {
+    sk_impl_.update_from_velocity(traction_wheel_vel, steer_pos, dt);
+  }
+
+  bool update_from_velocity(
+    const double right_traction_wheel_vel, const double left_traction_wheel_vel,
+    const double steer_pos, const double dt)
+  {
+    sk_impl_.update_from_velocity(right_traction_wheel_vel, left_traction_wheel_vel, steer_pos, dt);
+  }
+
+  bool update_from_velocity(
+    const double right_traction_wheel_vel, const double left_traction_wheel_vel,
+    const double right_steer_pos, const double left_steer_pos, const double dt)
+  {
+    sk_impl_.update_from_velocity(
+      right_traction_wheel_vel, left_traction_wheel_vel, right_steer_pos, left_steer_pos, dt);
+  }
+
+  void update_open_loop(const double v_bx, const double omega_bz, const double dt)
+  {
+    sk_impl_.update_open_loop(v_bx, omega_bz, dt);
+  }
+
+  void set_odometry_type(const unsigned int type) { sk_impl_.set_odometry_type(type); }
+
+  unsigned int get_odometry_type() const { sk_impl_.get_odometry_type(); }
+
+  double get_heading() const { sk_impl_.get_heading(); }
+
+  double get_x() const { sk_impl_.get_x(); }
+
+  double get_y() const { sk_impl_.get_y(); }
+
+  double get_linear() const { sk_impl_.get_linear(); }
+
+  double get_angular() const { sk_impl_.get_angular(); }
+
+  void set_wheel_params(
+    const double wheel_radius, const double wheel_base = 0.0, const double wheel_track = 0.0)
+  {
+    sk_impl_.set_wheel_params(wheel_radius, wheel_base, wheel_track);
+  }
+
+  void set_wheel_params(
+    const double wheel_radius, const double wheel_base, const double wheel_track_steering,
+    const double wheel_track_traction)
+  {
+    sk_impl_.set_wheel_params(wheel_radius, wheel_track_steering, wheel_track_traction);
+  }
+
+  void set_velocity_rolling_window_size(const size_t velocity_rolling_window_size)
+  {
+    sk_impl_.set_velocity_rolling_window_size(velocity_rolling_window_size);
+  }
+
+  std::tuple<std::vector<double>, std::vector<double>> get_commands(
+    double v_bx, double omega_bz, bool open_loop = true,
+    bool reduce_wheel_speed_until_steering_reached = false)
+  {
+    return impl_.get_commands(v_bx, omega_bz, open_loop, reduce_wheel_speed_until_steering_reached);
+  }
+
+  void reset_odometry() { impl_.reset_odometry(); }
+
+private:
+  steering_kinematics::SteeringKinematics sk_impl_;
+};
 }  // namespace steering_odometry
 
 #endif  // STEERING_CONTROLLERS_LIBRARY__STEERING_ODOMETRY_HPP_