text: /*
   * This Source Code Form is subject to the terms of the Mozilla Public
   * License, v. 2.0. If a copy of the MPL was not distributed with this
   * file, You can obtain one at http://mozilla.org/MPL/2.0/.
   */
  #pragma once
  
  #include "okapi/api/chassis/model/threeEncoderSkidSteerModel.hpp"
  #include "okapi/api/odometry/twoEncoderOdometry.hpp"
  #include "okapi/api/util/timeUtil.hpp"
  #include <functional>
  
  namespace okapi {
  class ThreeEncoderOdometry : public TwoEncoderOdometry {
    public:
    /**
     * Odometry. Tracks the movement of the robot and estimates its position in coordinates
     * relative to the start (assumed to be (0, 0)).
     *
     * @param itimeUtil The TimeUtil.
     * @param imodel The chassis model for reading sensors.
     * @param ichassisScales See ChassisScales docs (the middle wheel scale is the third member)
     * @param iwheelVelDelta The maximum delta between wheel velocities to consider the robot as
     * driving straight.
     * @param ilogger The logger this instance will log to.
     */
    ThreeEncoderOdometry(const TimeUtil &itimeUtil,
                         const std::shared_ptr<ReadOnlyChassisModel> &imodel,
                         const ChassisScales &ichassisScales,
                         const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
  
    protected:
    /**
     * Does the math, side-effect free, for one odom step.
     *
     * @param itickDiff The tick difference from the previous step to this step.
     * @param ideltaT The time difference from the previous step to this step.
     * @return The newly computed OdomState.
     */
    OdomState odomMathStep(const std::valarray<std::int32_t> &itickDiff,
                           const QTime &ideltaT) override;
  };
  } // namespace okapi
  