text: #ifndef ODOMETRY_H_
  #define ODOMETRY_H_
  
  #include "API.h"
  #include "EncoderWheel.h"
  #include "Pose.h"
  #include "xsens.h"
  
  typedef struct Odometry {
  	Mutex mutex;
  	EncoderWheel* encoderWheelL;
  	EncoderWheel* encoderWheelR;
  	EncoderWheel* encoderWheelM;
  	struct XsensVex* xsens;
  	double chassisWidth;
  	Pose pose;
  	double lastL;
  	double lastR;
  	double lastM;
  	bool useXsensNext;
  } Odometry;
  
  Odometry odometryCreate(EncoderWheel* encoderWheelL, EncoderWheel* encoderWheelR,
  		EncoderWheel* encoderWheelM, struct XsensVex* xsens, double chassisWidth, Pose initialPose);
  
  void odometryDelete(Odometry* odometry);
  
  Pose odometryComputePose(Odometry* odometry);
  
  Pose odometryPose(const Odometry* odometry);
  
  void odometrySetPose(Odometry* odometry, Pose pose);
  
  void odometryUseXsens(Odometry* odometry);
  
  #endif  // ODOMETRY_H_
  